A Flexible Endoscopic Sensing Module for Force Haptic Feedback Integration

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

doi:10.1109/CIBEC.2018.8641817

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 proceeding › Conference contribution › Academic › peer-review

2 Citations (Scopus)

181 Downloads (Pure)

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 language	English
Title of host publication	2018 9th Cairo International Biomedical Engineering Conference, CIBEC 2018
Editors	Inas Yassine, Tamer Basha, Ayman Eldeib
Publisher	IEEE
Pages	158-161
Number of pages	4
ISBN (Electronic)	9781538681541
DOIs	https://doi.org/10.1109/CIBEC.2018.8641817
Publication status	Published - 13 Feb 2019
Event	The 9th Cairo International Biomedical Engineering Conference (CIBEC 2018) - Hilton Pyramids Golf, Cairo, Egypt Duration: 20 Dec 2018 → 22 Dec 2018 Conference number: 9

Conference

Conference	The 9th Cairo International Biomedical Engineering Conference (CIBEC 2018)
Abbreviated title	CIBEC2018
Country/Territory	Egypt
City	Cairo
Period	20/12/18 → 22/12/18

Keywords

Endoscope
Finite Element Analysis
Force sensing
Haptic Feedback
Soft Robotics

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10.1109/CIBEC.2018.8641817

Naghibi2019flexibleFinal published version, 801 KBLicence: Taverne

Cite this

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title = "A Flexible Endoscopic Sensing Module for Force Haptic Feedback Integration",

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.",

keywords = "Endoscope, Finite Element Analysis, Force sensing, Haptic Feedback, Soft Robotics",

author = "Hamid Naghibi and Hoitzing, {Willem B.} and Stefano Stramigioli and Momen Abayazid",

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booktitle = "2018 9th Cairo International Biomedical Engineering Conference, CIBEC 2018",

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note = "The 9th Cairo International Biomedical Engineering Conference (CIBEC 2018), CIBEC2018 ; Conference date: 20-12-2018 Through 22-12-2018",

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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 et al.

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 proceeding › Conference contribution › Academic › peer-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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A Flexible Endoscopic Sensing Module for Force Haptic Feedback Integration

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