Comput Methods Programs Biomed - Haptic feedback and control of a flexible surgical endoscopic robot.

Tópicos

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Resumo

A flexible endoscope could reach the potential surgical site via a single small incision on the patient or even through natural orifices, making it a very promising platform for surgical procedures. However, endoscopic surgery has strict spatial constraints on both tool-channel size and surgical site volume. It is therefore very challenging to deploy and control dexterous robotic instruments to conduct surgical procedures endoscopically. Pioneering endoscopic surgical robots have already been introduced, but the performance is limited by the flexible neck of the robot that passes through the endoscope tool channel. In this article we present a series of new developments to improve the performance of the robot: a force transmission model to address flexibility, elongation study for precise position control, and tissue property modeling for haptic feedback. Validation experiment results are presented for each sector. An integrated control architecture of the robot system is given in the end.

Resumo Limpo

flexibl endoscop reach potenti surgic site via singl small incis patient even natur orific make promis platform surgic procedur howev endoscop surgeri strict spatial constraint toolchannel size surgic site volum therefor challeng deploy control dexter robot instrument conduct surgic procedur endoscop pioneer endoscop surgic robot alreadi introduc perform limit flexibl neck robot pass endoscop tool channel articl present seri new develop improv perform robot forc transmiss model address flexibl elong studi precis posit control tissu properti model haptic feedback valid experi result present sector integr control architectur robot system given end

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