Virtual Force Compensation for MIS Robot

Authors:
Longwang Yue;Suli Wang;Chunbo Liu;Yi Cao;Baiyan He
Affiliations:
School of Mechanical and Electrical Engineering, Henan University of Technology, Zhengzhou, China 450007;Department of Computer Science and Application, Zhengzhou Institute of Aeronautical Industry Management, Zhengzhou, China 450015;School of Mechanical and Electrical Engineering, Henan University of Technology, Zhengzhou, China 450007;School of Mechanical and Electrical Engineering, Henan University of Technology, Zhengzhou, China 450007;School of Mechanical Engineering, Tianjin University, Tianjin, China 300072
Venue:
ICIRA '08 Proceedings of the First International Conference on Intelligent Robotics and Applications: Part I
Year:
2008

Citing 3
Cited 0

Analysis of Suture Manipulation Forces for Teleoperation with Force Feedback

MICCAI '02 Proceedings of the 5th International Conference on Medical Image Computing and Computer-Assisted Intervention-Part I
Real-time soft tissue and suture simulation

Real-time soft tissue and suture simulation
Real-time knot-tying simulation

The Visual Computer: International Journal of Computer Graphics

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Abstract

It is difficult for MIS robot system to satisfy the knot tying force request of the surgery without force feedback. This results in suture breaking, organ damaging, and blood seeping. In this paper virtual force compensation for a new twisting knot tying method is presented. The author built a new finite elements model of the suture and defined the fitness degree of the suture loop. Based on the virtual force compensation system, force feedback in the surgery can be realized. The study enables us to conclude that the virtual force compensation is feasible and effective.