Design and evaluation of a haptic interface for interactive simulation of minimally-invasive surgeries

Mohamed Guiatni 1 Vincent Riboulet 2 Abderrahmane Kheddar 3
1 SIBI
IBISC - Informatique, Biologie Intégrative et Systèmes Complexes
3 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : This paper deals with the design and control of a haptic device to be used in a minimally invasive surgery simulator. Replicating haptic cues is of special interest since it is used in gesture motor control and important decision-making scenarios such as the discrimination of healthy versus abnormal tissues, identification of organs, etc. The structure of this new device is based on real motions of the tool during practical use in real procedures. The device is designed to provide high force and torque capability. For a better touch feedback part of the surgical tool is kept to be the grasper (i.e. the handle) of the haptic interface. The motorized part provides force-feedback and consists of a hybrid configuration (parallel-serial) which allows combining a relatively high stiffness and large workspace. The design and dimensioning procedure of the actuators and the workspace are performed using a database of measurement recorded during in-vivo minimally invasive surgeries. The kinematics -forward and inverse- model is formulated explicitly by using analytical methods. The resulted device is evaluated experimentally and compared with some commercially available devices.
Type de document :
Communication dans un congrès
IEEE/ASME. AIM'09: Advanced Intelligent Mechatronics, Jul 2009, Singapore. pp.1336-1341, 2009, 〈10.1109/AIM.2009.5229874〉
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00798700
Contributeur : François Keith <>
Soumis le : dimanche 10 mars 2013 - 00:45:38
Dernière modification le : jeudi 24 mai 2018 - 15:59:24

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Mohamed Guiatni, Vincent Riboulet, Abderrahmane Kheddar. Design and evaluation of a haptic interface for interactive simulation of minimally-invasive surgeries. IEEE/ASME. AIM'09: Advanced Intelligent Mechatronics, Jul 2009, Singapore. pp.1336-1341, 2009, 〈10.1109/AIM.2009.5229874〉. 〈lirmm-00798700〉

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