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

Author

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

Author_Institution

Dept. of Mech. Eng., Laval Univ., Quebec City, QC, Canada

fYear

2010

fDate

26-29 Sept. 2010

Firstpage

906

Lastpage

911

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.

Keywords

end effectors; haptic interfaces; manipulator kinematics; medical robotics; surgery; telerobotics; 7-DOF haptics-enabled teleoperated robotic system; 7-degree-of-freedom teleoperated robotic system; MIST robotic system; end effector; kinematic modeling; mathematical models; minimally invasive surgery and therapy; Force; Grippers; Haptic interfaces; Instruments; Robot sensing systems; Surgery;

fLanguage

English

Publisher

ieee

Conference_Titel

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

Conference_Location

Tokyo

ISSN

2155-1774

Print_ISBN

978-1-4244-7708-1

Type

conf

DOI

10.1109/BIOROB.2010.5625949

Filename

5625949