Experimental tissue parameter identification for use in endoscopic urological haptic simulators
2009 (English)In: Control and Automation, 2009. MED ’09. 17th Mediterranean Conference on, Piscataway, N.J.: IEEE Press, 2009, 1131-1136 p.Conference paper, Published paper (Refereed)
Abstract [en]
A method is developed for obtaining parameters for tube-like soft-tissues, to be used in urological haptic simulators. A device was designed and built that allows the acquisition of forces and displacements during endoscope insertion in a tubelike soft tissue. The device consists of a mechatronic ball screw mechanism, with a 6 DOF force/ torque sensor attached to it. The steel shaft representing the endoscope, is commanded to follow desired trajectories with micrometric accuracy under the application of an IPD controller, implemented on a dSpace 1103 system. The experimental data acquired is fitted to polynomials to yield a tissue model that can be used to predict insertion forces required for haptic simulator feedback.
Place, publisher, year, edition, pages
Piscataway, N.J.: IEEE Press, 2009. 1131-1136 p.
Keyword [en]
Biological tissues, Endoscopes, Fasteners, Force sensors, Haptic interfaces, Mechatronics, Parameter estimation, Predictive models, Steel, Torque, biological tissues, endoscopes, medical control systems, parameter estimation, IPD controller, dSpace 1103 system, endoscope insertion, endoscopic urological haptic simulators, experimental tissue parameter identification, mechatronic ball screw mechanism, micrometric accuracy, tube-like soft tissues, Soft tissue modeling, endoscopic surgery simulation, haptic feedback, tissue identification
National Category
Robotics
Identifiers
URN: urn:nbn:se:hh:diva-20824DOI: 10.1109/MED.2009.5164698ISI: 000280699600194ISBN: 978-1-4244-4684-1 OAI: oai:DiVA.org:hh-20824DiVA: diva2:586709
Conference
17th Mediterranean Conference on Control & Automation, Makedonia Palace, Thessaloniki, Greece, June 24-26, 2009
2013-01-122013-01-122013-02-20Bibliographically approved