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http://dx.doi.org/10.3795/KSME-A.2011.35.8.883

Approximate Friction and Gravity Compensation in Haptic Laparoscopic Surgery Simulator  

Kim, Sang-Hyun (School of Mechanical and Aerospace Engineering, Seoul Nat'l Univ.)
Lee, Chang-Gyu (School of Mechatronics, Gwangju Institue of Science and Technology)
Kim, Ji-Suk (School of Mechanical and Aerospace Engineering, Seoul Nat'l Univ.)
Ryu, Je-Ha (School of Mechatronics, Gwangju Institue of Science and Technology)
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.35, no.8, 2011 , pp. 883-888 More about this Journal
Abstract
Laparoscopic surgery is being used in various surgical fields because it minimizes scarring. Laparoscopic operations require practical hand skills, so surgeons train on animals and via surgery training tool sets. However, these tool sets do not give the surgeon the sensation of touching real organs. A recently developed laparoscope simulator has a high friction force along the translational axis and a high gravity force along the pitch axis, and therefore it does not permit the operator to control his or her hands delecately. In the paper, the friction force along the axes is auumed to depend on the veolcity, and the gravity force on the angle and distance. We develop a compensation model that combines the gravity and friction force models.
Keywords
Haptics; Friction Compensation; Gravity Force Compensation; Laparoscope;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
Times Cited By SCOPUS : 0
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