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DOI: 10.14569/IJARAI.2013.020507
PDF

The preliminary results of a force feedback control for Sensorized Medical Robotics

Author 1: Duck Hee Lee
Author 2: Seoung Joon Song
Author 3: Reza Fazel-Rezai
Author 4: Jaesoon Choi

International Journal of Advanced Research in Artificial Intelligence(IJARAI), Volume 2 Issue 5, 2013.

  • Abstract and Keywords
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Abstract: A laparoscopic surgery system by using a robot holds many problems. Among these, its inability in delivering touching sensation to a surgeon is raised as the biggest problem. The current paper attempted to find a force feedback controlling method at the time of performing movement by using one-degree of freedom (DOF) arm of slave and master system that is used in the programming based system. The study was two methods experience force feedback control; In the first place used force sensors and otherwise, conducted for the force feedback control by using a force sensor and for the case when the sensor could not be used due to the spatial and systematic limitation. The realization of force feedback system was successful, and the experiment results of force feedback control and current based force feedback control mode based on the force sensors of one-DOF system indicates that it could be directly applied to the another multi-DOF surgical robot system that is currently under the development.

Keywords: Laparoscopic surgery; force feedback control; degree of freedom (DOF).

Duck Hee Lee, Seoung Joon Song, Reza Fazel-Rezai and Jaesoon Choi, “The preliminary results of a force feedback control for Sensorized Medical Robotics” International Journal of Advanced Research in Artificial Intelligence(IJARAI), 2(5), 2013. http://dx.doi.org/10.14569/IJARAI.2013.020507

@article{Lee2013,
title = {The preliminary results of a force feedback control for Sensorized Medical Robotics},
journal = {International Journal of Advanced Research in Artificial Intelligence},
doi = {10.14569/IJARAI.2013.020507},
url = {http://dx.doi.org/10.14569/IJARAI.2013.020507},
year = {2013},
publisher = {The Science and Information Organization},
volume = {2},
number = {5},
author = {Duck Hee Lee and Seoung Joon Song and Reza Fazel-Rezai and Jaesoon Choi}
}



Copyright Statement: This is an open access article licensed under a Creative Commons Attribution 4.0 International License, which permits unrestricted use, distribution, and reproduction in any medium, even commercially as long as the original work is properly cited.

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