A 7-DOF haptics-enabled teleoperated robotic system: Kinematic modeling and experimental verification

Simon Perreault, Ali Talasaz, Ana Luisa Trejos, Christopher D.W. Ward, Rajni V. Patel, Bob Kiaii

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Scopus citations

Abstract

The purpose of this paper is to demonstrate the development of a novel 7-degree-of-freedom teleoperated robotic system that provides force reflection to the surgeon's hands while performing minimally invasive surgery and therapy (MIST). An endoscopic tool has been sensorized and modified for use as the end effector of this haptics-enabled system. In this paper, mathematical models required for controlling the main components of the system have been determined and experimentally validated. Several experiments have been performed with this MIST robotic system in order to compare its force exertion capabilities with those of the da Vinci system from Intuitive Surgical Inc. Force reflection from the slave to the master in the new system is also demonstrated experimentally.

Original languageEnglish (US)
Title of host publication2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010
Pages906-911
Number of pages6
DOIs
StatePublished - 2010
Externally publishedYes
Event2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010 - Tokyo, Japan
Duration: Sep 26 2010Sep 29 2010

Publication series

Name2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010

Conference

Conference2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010
CountryJapan
CityTokyo
Period9/26/109/29/10

ASJC Scopus subject areas

  • Artificial Intelligence
  • Biomedical Engineering

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