scholarly journals Contact Force Measurement of Instruments for Force-Feedback on a Surgical Robot: Acceleration Force Cancellations Based on Acceleration Sensor Readings

2005 ◽  
pp. 97-104 ◽  
Author(s):  
Shigeyuki Shimachi ◽  
Fumie Kameyama ◽  
Yoshihide Hakozaki ◽  
Yasunori Fujiwara
Keyword(s):  
Contact Force ◽  
Force Feedback ◽  
Force Measurement ◽  
Surgical Robot ◽  
Acceleration Sensor ◽  
Acceleration Force

Prototype of a Surgical Robot with Contact Force Feedback

2019 ◽  
pp. 993-1001
Author(s):  
Misael Sánchez-Magos ◽  
Caridad Mireles-Pérez ◽  
Kenny Pérez ◽  
Francisco Medina ◽  
Mariana Ballesteros ◽  
...  
Keyword(s):  
Contact Force ◽  
Force Feedback ◽  
Surgical Robot

scholarly journals Contact Force Measuring System for Force-Feedback on Surgical Robot (1st report)

2006 ◽  
Vol 7 (4) ◽  
pp. 567-575
Author(s):  
Yasunori Fujiwara ◽  
Shigeyuki Shimachi ◽  
Yoshihide Hakozaki
Keyword(s):  
Contact Force ◽  
Force Feedback ◽  
Surgical Robot ◽  
Measuring System

scholarly journals Contact Force Measuring System for Force-Feedback on Surgical Robot (2nd report)

2006 ◽  
Vol 7 (4) ◽  
pp. 577-585
Author(s):  
Yasunori Fujiwara ◽  
Shigeyuki Shimachi ◽  
Yoshihide Hakozaki
Keyword(s):  
Contact Force ◽  
Force Feedback ◽  
Surgical Robot ◽  
Measuring System

scholarly journals A Magnetorheological Fluids-Based Robot-Assisted Catheter/Guidewire Surgery System for Endovascular Catheterization

Micromachines ◽  
2021 ◽  
Vol 12 (6) ◽  
pp. 640
Author(s):  
Linshuai Zhang ◽  
Shuoxin Gu ◽  
Shuxiang Guo ◽  
Takashi Tamiya
Keyword(s):  
Collision Detection ◽  
Endovascular Procedures ◽  
Force Feedback ◽  
Force Measurement ◽  
Occupational Hazards ◽  
Robot Assisted ◽  
X Ray ◽  
Surgical Safety ◽  
Surgical Tool ◽  
Haptic Cues

A teleoperated robotic catheter operating system is a solution to avoid occupational hazards caused by repeated exposure radiation of the surgeon to X-ray during the endovascular procedures. However, inadequate force feedback and collision detection while teleoperating surgical tools elevate the risk of endovascular procedures. Moreover, surgeons cannot control the force of the catheter/guidewire within a proper range, and thus the risk of blood vessel damage will increase. In this paper, a magnetorheological fluid (MR)-based robot-assisted catheter/guidewire surgery system has been developed, which uses the surgeon’s natural manipulation skills acquired through experience and uses haptic cues to generate collision detection to ensure surgical safety. We present tests for the performance evaluation regarding the teleoperation, the force measurement, and the collision detection with haptic cues. Results show that the system can track the desired position of the surgical tool and detect the relevant force event at the catheter. In addition, this method can more readily enable surgeons to distinguish whether the proximal force exceeds or meets the safety threshold of blood vessels.

Adaptive Contact Force Control of a Flexible Beam Using Output Feedback

2000 ◽  
Author(s):  
Woosoon Yim
Keyword(s):  
Contact Force ◽  
Contact Surface ◽  
Force Control ◽  
Closed Loop ◽  
Force Measurement ◽  
Transient Behavior ◽  
Loop System ◽  
Flexible Beam ◽  
Reference Trajectory ◽  
Closed Loop System

Abstract This paper presents an adaptive force trajectory control of a flexible beam using a piezoceramic actuator. Based on the adaptive backstepping method, a force control system using only force measurement is designed. For the derivation of the control law, it is assumed that parameters of the beam and contact surface stiffness are unknown. It is shown that in the closed-loop system, the contact force tracks a given reference trajectory and the beam vibration is suppressed as well. Digital simulations results show that the closed-loop system has good transient behavior and robust performance in the presence of uncertainties in the parameters of the flexible beam and the contact surface.

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