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 |
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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 | |
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) |
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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