A Flexible Endoscopic Sensing Module for Force Haptic Feedback Integration

Hamid Naghibi, Willem B. Hoitzing, Stefano Stramigioli, Momen Abayazid

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

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Abstract

Proper haptic feedback is a key aspect to the safety of a teleoperated endoscopic surgical robotics system. In this study we developed a flexible sensing module to measure the directional force, and a haptic control of a soft robotic endoscopic segment. The force amplitude and direction detection was based on the voltage changes in four strain gauges positioned at four quarters of a flexible cylinder. The flexible structure of the cylinder allowed for large deformation which can reduce the risk of tissue damage at interfaces. Inverse finite element analysis and finite element simulations were implemented to further improve and verify the developed system. The system including the haptic feedback controller could enhance operator navigation.

Original languageEnglish
Title of host publication2018 9th Cairo International Biomedical Engineering Conference, CIBEC 2018
EditorsInas Yassine, Tamer Basha, Ayman Eldeib
PublisherIEEE
Pages158-161
Number of pages4
ISBN (Electronic)9781538681541
DOIs
Publication statusPublished - 13 Feb 2019
EventThe 9th Cairo International Biomedical Engineering Conference (CIBEC 2018) - Hilton Pyramids Golf, Cairo, Egypt
Duration: 20 Dec 201822 Dec 2018
Conference number: 9

Conference

ConferenceThe 9th Cairo International Biomedical Engineering Conference (CIBEC 2018)
Abbreviated titleCIBEC2018
CountryEgypt
CityCairo
Period20/12/1822/12/18

Fingerprint

Robotics
Feedback
Flexible structures
Strain gages
Interfaces (computer)
Navigation
Tissue
Finite element method
Controllers
Electric potential

Keywords

  • Endoscope
  • Finite Element Analysis
  • Force sensing
  • Haptic Feedback
  • Soft Robotics

Cite this

Naghibi, H., Hoitzing, W. B., Stramigioli, S., & Abayazid, M. (2019). A Flexible Endoscopic Sensing Module for Force Haptic Feedback Integration. In I. Yassine, T. Basha, & A. Eldeib (Eds.), 2018 9th Cairo International Biomedical Engineering Conference, CIBEC 2018 (pp. 158-161). [8641817] IEEE. https://doi.org/10.1109/CIBEC.2018.8641817
Naghibi, Hamid ; Hoitzing, Willem B. ; Stramigioli, Stefano ; Abayazid, Momen. / A Flexible Endoscopic Sensing Module for Force Haptic Feedback Integration. 2018 9th Cairo International Biomedical Engineering Conference, CIBEC 2018. editor / Inas Yassine ; Tamer Basha ; Ayman Eldeib. IEEE, 2019. pp. 158-161
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abstract = "Proper haptic feedback is a key aspect to the safety of a teleoperated endoscopic surgical robotics system. In this study we developed a flexible sensing module to measure the directional force, and a haptic control of a soft robotic endoscopic segment. The force amplitude and direction detection was based on the voltage changes in four strain gauges positioned at four quarters of a flexible cylinder. The flexible structure of the cylinder allowed for large deformation which can reduce the risk of tissue damage at interfaces. Inverse finite element analysis and finite element simulations were implemented to further improve and verify the developed system. The system including the haptic feedback controller could enhance operator navigation.",
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Naghibi, H, Hoitzing, WB, Stramigioli, S & Abayazid, M 2019, A Flexible Endoscopic Sensing Module for Force Haptic Feedback Integration. in I Yassine, T Basha & A Eldeib (eds), 2018 9th Cairo International Biomedical Engineering Conference, CIBEC 2018., 8641817, IEEE, pp. 158-161, The 9th Cairo International Biomedical Engineering Conference (CIBEC 2018), Cairo, Egypt, 20/12/18. https://doi.org/10.1109/CIBEC.2018.8641817

A Flexible Endoscopic Sensing Module for Force Haptic Feedback Integration. / Naghibi, Hamid; Hoitzing, Willem B.; Stramigioli, Stefano; Abayazid, Momen.

2018 9th Cairo International Biomedical Engineering Conference, CIBEC 2018. ed. / Inas Yassine; Tamer Basha; Ayman Eldeib. IEEE, 2019. p. 158-161 8641817.

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

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AB - Proper haptic feedback is a key aspect to the safety of a teleoperated endoscopic surgical robotics system. In this study we developed a flexible sensing module to measure the directional force, and a haptic control of a soft robotic endoscopic segment. The force amplitude and direction detection was based on the voltage changes in four strain gauges positioned at four quarters of a flexible cylinder. The flexible structure of the cylinder allowed for large deformation which can reduce the risk of tissue damage at interfaces. Inverse finite element analysis and finite element simulations were implemented to further improve and verify the developed system. The system including the haptic feedback controller could enhance operator navigation.

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Naghibi H, Hoitzing WB, Stramigioli S, Abayazid M. A Flexible Endoscopic Sensing Module for Force Haptic Feedback Integration. In Yassine I, Basha T, Eldeib A, editors, 2018 9th Cairo International Biomedical Engineering Conference, CIBEC 2018. IEEE. 2019. p. 158-161. 8641817 https://doi.org/10.1109/CIBEC.2018.8641817