Title :
GENIE-an haptic interface for simulation of laparoscopic surgery
Author :
Mishra, Ranjan Kumar ; Srikanth, Saripalli
Author_Institution :
Center for AI & Robotics, Inst. for Robotics & Intelligent Syst., Bangalore, India
Abstract :
This project deals with the design, analysis and fabrication of an haptic interface device for use in training for laparoscopic surgery. An apparatus has been designed for physically exchanging forces with users in an alien environment. The apparatus is a three degree of freedom interface, where all the three degrees of freedom are actuated and are also tracked using encoders. The structure of the haptic interface are described and the control algorithm and the haptic rendering algorithm are enunciated
Keywords :
computer based training; digital simulation; haptic interfaces; medical computing; surgery; tracking; 3-DOF interface; GENIE; haptic interface; haptic rendering algorithm; laparoscopic surgery simulation; physical force exchange; Abdomen; Aerospace simulation; Anatomy; Animals; Force feedback; Haptic interfaces; Humans; Minimally invasive surgery; Physics computing; Torque;
Conference_Titel :
Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on
Conference_Location :
Takamatsu
Print_ISBN :
0-7803-6348-5
DOI :
10.1109/IROS.2000.894688
