Hunt–Crossley model based force control for minimally invasive robotic surgery
In minimally invasive surgery (MIS) the continuously increasing use of robotic devices allows
surgical operations to be conducted more precisely and more efficiently. Safe and accurate …
surgical operations to be conducted more precisely and more efficiently. Safe and accurate …
Viscoelastic model based force control for soft tissue interaction and its application in physiological motion compensation
Controlling the interaction between robots and living soft tissues has become an important
issue as the number of robotic systems inside the operating room increases. Many …
issue as the number of robotic systems inside the operating room increases. Many …
Soft tissue force control using active observers and viscoelastic interaction model
Controlling the interaction between the robot and living soft tissues has became an
important issue as the number of robots inside the operating room increases. Many research …
important issue as the number of robots inside the operating room increases. Many research …
Extended Kalman filter for online soft tissue characterization based on Hunt-Crossley contact model
Real-time soft tissue characterization is significant to robotic assisted minimally invasive
surgery for achieving precise haptic control of robotic surgical tasks and providing realistic …
surgery for achieving precise haptic control of robotic surgical tasks and providing realistic …
Surface deformation and reaction force estimation of liver tissue based on a novel nonlinear mass–spring–damper viscoelastic model
Rheological soft tissue models play an important role in designing control methods for
modern teleoperation systems. In the meanwhile, these models are also essential for …
modern teleoperation systems. In the meanwhile, these models are also essential for …
Effects of realistic force feedback in a robotic assisted minimally invasive surgery system
M Moradi Dalvand, B Shirinzadeh… - … Invasive Therapy & …, 2014 - Taylor & Francis
Background: Robotic assisted minimally invasive surgery systems not only have the
advantages of traditional laparoscopic procedures but also restore the surgeon's hand-eye …
advantages of traditional laparoscopic procedures but also restore the surgeon's hand-eye …
Adaptive control of a robot-assisted tele-surgery in interaction with hybrid tissues
H Kolbari, S Sadeghnejad… - Journal of …, 2018 - asmedigitalcollection.asme.org
In a haptic teleoperation system, which interacts with unknown and hybrid environments, it is
important to achieve stability and transparency. In medical usages, the utilization of …
important to achieve stability and transparency. In medical usages, the utilization of …
An actuated force feedback‐enabled laparoscopic instrument for robotic‐assisted surgery
M Moradi Dalvand, B Shirinzadeh… - … Journal of Medical …, 2014 - Wiley Online Library
Background Robotic‐assisted minimally invasive surgery systems not only have the
advantages of traditional laparoscopic instruments but also have other important …
advantages of traditional laparoscopic instruments but also have other important …
Using visual cues to enhance haptic feedback for palpation on virtual model of soft tissue
This paper explores methods that make use of visual cues aimed at generating actual haptic
sensation to the user, namely pseudo-haptics. We propose a new pseudo-haptic feedback …
sensation to the user, namely pseudo-haptics. We propose a new pseudo-haptic feedback …
Bio-inspired haptic feedback for artificial palpation in robotic surgery
Q Ouyang, J Wu, S Sun, J Pensa, A Abiri… - IEEE Transactions …, 2021 - ieeexplore.ieee.org
Adding haptic feedback has been reported to improve the outcome of minimally invasive
robotic surgery. In this study, we seek to determine whether an algorithm based on …
robotic surgery. In this study, we seek to determine whether an algorithm based on …