Title :
Experimental tissue parameter identification for use in endoscopic urological haptic simulators
Author :
Dimopoulos, Athanasios ; Papadopoulos, Evangelos ; Iagnemma, Karl
Author_Institution :
Dept. of Mech. Eng., Nat. Tech. Univ. of Athens, Athens, Greece
Abstract :
A method is developed for obtaining parameters for tube-like soft-tissues, to be used in urological haptic simulators. A device was designed and built that allows the acquisition of forces and displacements during endoscope insertion in a tube-like soft tissue. The device consists of a mechatronic ball screw mechanism, with a 6 DOF force/ torque sensor attached to it. The steel shaft representing the endoscope, is commanded to follow desired trajectories with micrometric accuracy under the application of an IPD controller, implemented on a dSpace 1103 system. The experimental data acquired is fitted to polynomials to yield a tissue model that can be used to predict insertion forces required for haptic simulator feedback.
Keywords :
biological tissues; endoscopes; medical control systems; parameter estimation; IPD controller; dSpace 1103 system; endoscope insertion; endoscopic urological haptic simulators; experimental tissue parameter identification; mechatronic ball screw mechanism; micrometric accuracy; tube-like soft tissues; Biological tissues; Endoscopes; Fasteners; Force sensors; Haptic interfaces; Mechatronics; Parameter estimation; Predictive models; Steel; Torque; Soft tissue modeling; endoscopic surgery simulation; haptic feedback; tissue identification;
Conference_Titel :
Control and Automation, 2009. MED '09. 17th Mediterranean Conference on
Conference_Location :
Thessaloniki
Print_ISBN :
978-1-4244-4684-1
Electronic_ISBN :
978-1-4244-4685-8
DOI :
10.1109/MED.2009.5164698
