A Flexible Endoscopic Sensing Module for Force Haptic Feedback Integration

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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.",
    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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    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