Design of a New Haptic Interface for Endoscopy Simulation

2015 ◽  
Vol 9 (4) ◽  
Author(s):  
Yunjin Gu ◽  
Cheongjun Kim ◽  
Doo Yong Lee
Keyword(s):  
Degrees Of Freedom ◽  
Haptic Feedback ◽  
Haptic Interface ◽  
Resistive Force ◽  
Endoscopy Simulation ◽  
Force Data

This paper reports a novel haptic interface to provide haptic feedback during endoscopy simulation. The proposed haptic interface combines two independent mechanisms to provide two decoupled degrees-of-freedom in the translational and the rotational directions. Effects of the apparent inertia–mass and apparent friction to the user's hand are measured in the form of resistive force and torque. The forces and torques that can be manifested by the developed haptic interface are compared with the exerted force data during actual endoscopy.

Knotting Mechanisms and a Knotting Theory

1998 ◽  
Author(s):  
Shahram Payandeh ◽  
Alan J. Lomax
Keyword(s):  
Degrees Of Freedom ◽  
Knot Theory ◽  
Design Concept ◽  
Haptic Interface ◽  
Design Features ◽  
Operation System ◽  
Remote Manipulation ◽  
Challenging Tasks ◽  
Mathematical Abstraction ◽  
Practical Design

Abstract In the filed of remote manipulation, it is generally required to manipulate objects through elongated tools or through a tele-operation system. In the field of EndoSurgery, one of the challenging tasks for the surgeons is the notion of knotting a suture. This is done by using long graspers and needle drivers which have constrained degrees of freedom caused by the ports of entry to the surgical area. In general, this task is the most time consuming one and requires degree of dexterity which is not available. The objective of this paper is to present an overview of the patented design features of various knotting assisting mechanisms which have been invented for automating aspect of knotting and discussion on a novel and practical design concept. Then this paper presents how the notion of the Knot Theory which is mathematical abstraction can be extended to develop a Graphical Surgeon Interface (GSI) in order to guide the operator during the remote manipulation of the suture during the knotting task and also during the training phases using a haptic interface device.

scholarly journals Automatic Identification of Environment Haptic Properties

1999 ◽  
Vol 8 (4) ◽  
pp. 394-411 ◽  
Author(s):  
Pierre E. Dupont ◽  
Capt. Timothy M. Schulteis ◽  
Paul A. Millman ◽  
Robert D. Howe
Keyword(s):  
Haptic Feedback ◽  
Sensory Information ◽  
Automatic Identification ◽  
Identification System ◽  
General Description ◽  
Research Issues ◽  
Property Identification ◽  
Remote Environment ◽  
Force Data

Many applications can be imagined for a system that processes sensory information collected during telemanipulation tasks in order to automatically identify properties of the remote environment. These applications include generating model-based simulations for training operators in critical procedures and improving real-time performance in unstructured environments or when time delays are large. This paper explores the research issues involved in developing such an identification system, focusing on properties that can be identified from remote manipulator motion and force data. As a case study, a simple block-stacking task, performed with a teleoperated two-fingered planar hand, is considered. An algorithm is presented that automatically segments the data collected during the task, given only a general description of the temporal sequence of task events. Using the segmented data, the algorithm then successfully estimates the weight, width, height, and coefficient of friction of the two blocks handled during the task. This data is used to calibrate a virtual model incorporating visual and haptic feedback. This case study highlights the broader research issues that must be addressed in automatic property identification.

Investigation of the Complex Two Degrees of Freedom Systems for Force Limited Vibration

2004 ◽  
Author(s):  
Andre Cote ◽  
Ramin Sedaghati ◽  
Yvan Soucy
Keyword(s):  
Free Boundary ◽  
Boundary Conditions ◽  
Degrees Of Freedom ◽  
Simple Approach ◽  
Conservative Estimate ◽  
Two Degrees Of Freedom ◽  
Jet Propulsion ◽  
Fixed Boundary ◽  
Free Boundary Conditions ◽  
Force Data

Force Limited Vibration (FLV) Testing developed at Jet Propulsion Laboratory offers many opportunities to decrease the overtesting problem associated with traditional vibration testing. Among the force limited vibration methods, the complex two degrees of freedom system (TDFS) appears to be the most complete and versatile model which gives reasonably conservative force limits, and does not require extrapolation of interface force data for similar mounting structures and test articles. However there are some limitations to the complex TDFS model. The model is well adapted for nicely separated modes but issues regarding the closely space modes have not been fully addressed in the literature. Also, the complex TDFS model is based on free boundary conditions for the mounting structure, which appear to be natural for many cases such as spacecraft mounted on a launch vehicle. However this is not necessarily true for some other cases such as an electronic component mounted on a spacecraft antenna, which requires fixed boundary conditions. The main objective of this paper is to give greater insights into the complex TDFS method and propose methodologies to overcome its limitations. It is shown that a simple approach can be used to assure conservative estimate of the force limits in situations regarding closely spaced modes. It is also demonstrated that although the complex TDFS method is not perfectly adapted to fixed boundary conditions of the mounting structure, given certain precautions, it still provides good estimates of the force limits.

Design and Development of Two Concepts for a 4 DOF Portable Haptic Interface With Active and Passive Multi-Point Force Feedback for the Index Finger

2006 ◽  
Author(s):  
Mark J. Lelieveld ◽  
Takashi Maeno ◽  
Tetsuo Tomiyama
Keyword(s):  
Degrees Of Freedom ◽  
Force Feedback ◽  
Index Finger ◽  
Design Method ◽  
Haptic Interface ◽  
Haptic Interfaces ◽  
Linkage Mechanism ◽  
Design And Development ◽  
Constant Torque ◽  
Flexion And Extension

This research aims to develop a portable haptic master hand with 20 degrees of freedom (DOF). Master hands are used as haptic interfaces in master-slave systems. A master-slave system consists of a haptic interface that communicates with a virtual world or an end-effector for tele-operation, such as a robot hand. The thumb and fingers are usually modeled as a serial linkage mechanism with 4 DOF. So far, no 20 DOF master hands have been developed that can exert perpendicular forces on the finger phalanges during the complete flexion and extension motion. In this paper, the design and development of two concepts of a portable 4 DOF haptic interface for the index finger is presented. Concept A is a statically balanced haptic interface with a rolling-link mechanism (RLM) and an integrated constant torque spring per DOF for perpendicular and active force feedback. Concept B utilizes a mechanical tape brake at the RLM for passive force feedback. The systematic Pahl and Beitz design approach is used as an iterative design method.

scholarly journals Aerial Tele-Manipulation with Passive Tool via Parallel Position/Force Control

2021 ◽  
Vol 11 (19) ◽  
pp. 8955
Author(s):  
Mostafa Mohammadi ◽  
Davide Bicego ◽  
Antonio Franchi ◽  
Davide Barcelli ◽  
Domenico Prattichizzo
Keyword(s):  
Contact Interaction ◽  
Force Control ◽  
Degrees Of Freedom ◽  
Haptic Feedback ◽  
Situational Awareness ◽  
Control Method ◽  
Bilateral Teleoperation ◽  
Compliant Structure ◽  
Rotational Degrees Of Freedom ◽  
Remote Sites

This paper addresses the problem of unilateral contact interaction by an under-actuated quadrotor UAV equipped with a passive tool in a bilateral teleoperation scheme. To solve the challenging control problem of force regulation in contact interaction while maintaining flight stability and keeping the contact, we use a parallel position/force control method, commensurate to the system dynamics and constraints in which using the compliant structure of the end-effector the rotational degrees of freedom are also utilized to attain a broader range of feasible forces. In a bilateral teleoperation framework, the proposed control method regulates the aerial manipulator position in free flight and the applied force in contact interaction. On the master side, the human operator is provided with force haptic feedback to enhance his/her situational awareness. The validity of the theory and efficacy of the solution are shown by experimental results. This control architecture, integrated with a suitable perception/localization pipeline, could be used to perform outdoor aerial teleoperation tasks in hazardous and/or remote sites of interest.

The Command of a Virtual Industrial Robot Using a Dedicated Haptic Interface

2013 ◽  
Vol 837 ◽  
pp. 543-548 ◽  
Author(s):  
Silviu Butnariu ◽  
Florin Gîrbacia
Keyword(s):  
Haptic Feedback ◽  
Industrial Robot ◽  
Structural Similarity ◽  
Haptic Device ◽  
Haptic Interface ◽  
Robot Arm ◽  
Test Results ◽  
Human Arm ◽  
Angular Data ◽  
Articulated Robot

In this paper is presented a study regarding the possibilities of commandinga virtual robot using a haptic interface. In order to demonstrate the functionality of this concept, a dedicated device with 1 DOF was developed. This device consists of twin motor-gearbox able to acquire and transmit the angular data of the shaft and return a haptic feedback corresponding to the robot movement. The proposed haptic device makes it possible to command one joint of an industrial robot and can be used as an essential component for the development of an exoskeleton for human arm and is able to generate a haptic interaction for all the joints. The exoskeleton solution will allow a structural similarity between the haptic device and an articulated robot arm. The test results with haptic feedback scenarios show that the proposed system can help inexperienced users to handle robot operation and programming tasks in an intuitive way.

Designing Haptics: Improving a Virtual Reality Glove with Respect to Realism, Performance, and Comfort

2019 ◽  
Vol 13 (4) ◽  
pp. 453-463
Author(s):  
Daniel Shor ◽  
◽  
Bryan Zaaijer ◽  
Laura Ahsmann ◽  
Max Weetzel ◽  
...  
Keyword(s):  
Virtual Reality ◽  
User Study ◽  
Haptic Feedback ◽  
Haptic Interface ◽  
Haptic Information ◽  
Critical Design ◽  
And Performance ◽  
Design Factors ◽  
Design Paper ◽  
Sensory Noise

This design paper describes the development of custom built interface between a force-replicating virtual reality (VR) haptic interface glove, and a user. The ability to convey haptic information – both kinematic and tactile – is a critical barrier in creating comprehensive simulations. Haptic interface gloves can convey haptic information, but often the haptic “signal” is diluted by sensory “noise,” miscuing the user’s brain. Our goal is to convey compelling interactions – such as grasping, squeezing, and pressing – with virtual objects by improving one such haptic interface glove, the SenseGlove, through a redesign of the user-glove interface, soft glove. The redesign revolves around three critical design factors – comfort, realism, and performance – and three critical design areas – thimble/fingertip, palm, and haptic feedback. This paper introduces the redesign method and compares the two designs with a quantitative user study. The benefit of the improved soft glove can be shown by a significant improvement of the design factors, quantified through QUESI, NASA-TLX, and comfort questionnaires.

A Four-DOF Laparo-Endoscopic Single Site Platform for Rapidly-Developing Next-Generation Surgical Robotics

2016 ◽  
Vol 01 (04) ◽  
pp. 1650006 ◽  
Author(s):  
Lou Cubrich ◽  
Mark A. Reichenbach ◽  
Jay D. Carlson ◽  
Andrew Pracht ◽  
Benjamin Terry ◽  
...  
Keyword(s):  
Surgical Procedures ◽  
Degrees Of Freedom ◽  
Haptic Feedback ◽  
Gynecologic Oncology ◽  
Single Site ◽  
Fundamental Limitations ◽  
Surgical Tool ◽  
Wide Range ◽  
Proven Efficacy

Minimally-invasive laparoscopic procedures have proven efficacy for a wide range of surgical procedures, but have notable shortcomings, including limited instrument motion and reduced dexterity. Endoscopic robots, like the intuitive surgical da Vinci system, have become an effective tool for many types of surgeries; however, these tools still have fundamental limitations with manipulator access, which reduces their effectiveness for many surgical procedures, like colectomy, cholecystectomy, and gynecologic oncology. Laparo-endoscopic single-site (LESS) robots operate in vivo, and overcome many of these limitations. Here, a four-degrees of freedom (DOF) surgical robot is presented as a tool to enable refinement of the LESS platform as a surgical tool, while also looking forward to applications in telesurgery and haptic feedback.

scholarly journals An Add-On Device to Perform Dexterous Grasping Tasks With a Haptic Feedback System

2015 ◽  
Author(s):  
Jean-Claude Leon ◽  
Thomas Dupeux ◽  
Jean-Rémy Chardonnet ◽  
Jérôme Perret
Keyword(s):  
Real Time ◽  
Degrees Of Freedom ◽  
Haptic Feedback ◽  
Feedback System ◽  
Short Description ◽  
Finger Movements ◽  
Natural Manner ◽  
New Device ◽  
Non Invasive ◽  
Virtual Hand

Achieving grasping tasks in real time with haptic feedback may require the control of a large number of degrees of freedom (DOFs) to model hand and finger movements. This is mandatory to grasp objects with dexterity. Here, a new device called HaptiHand is proposed that can be added to a haptic feedback arm and provide the user with enough DOFs so that he/she can intuitively and dexterously grasp an object, modify the virtual hand configuration and number of fingers with respect to the object while manipulating the object. Furthermore, this device is non-invasive and enables the user to apply forces on the fingers of the virtual hand. The HaptiHand lies inside the user’s hand so that the user can apply and release pressure on it in a natural manner that is transferred to the virtual hand using metaphors. The focus is placed on the description of the technology and structure of the HaptiHand to justify the choices and explain the behavior of the HaptiHand during object grasping and releasing tasks. This is combined with a short description of the models used.

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