Title :
Suitability of Two Models of Torque Feedback for Performing a Robot-Assisted Circular Tracing Task
Author :
Trejo, Fernando ; Yaoping Hu
Author_Institution :
Dept. of Electr. & Comput. Eng., Univ. of Calgary, Calgary, AB, Canada
Abstract :
In robot-assisted surgery, haptic devices as hand controllers play an important role in the surgeon´s ability of manipulating tissues. Most research activities have focused on providing force feedback as haptic information. Considering a circular tracing task, we presented two models of torque feedback. On a Virtual Reality simulator of neuroArm, a robotic system for microscopic neurosurgery, we investigated the suitability of these models for rendering torque feedback of each rotational degree-of-freedom. Without sacrificing translational and rotational motion ranges, we verified that the device PHANToM Premium 1.5/6DOF is adequate as a hand controller of neuroArm to replace the modified version of PHANToM Premium 1.5 interfacing originally with neuroArm. Using the device PHANToM Premium 1.5/6DOF, our preliminary results yielded a suitability of both models of torque feedback for performing a circular tracing task assisted by neuroArm.
Keywords :
biological tissues; control engineering computing; feedback; haptic interfaces; manipulators; medical robotics; neurophysiology; rendering (computer graphics); surgery; torque control; virtual reality; PHANToM Premium 1.5/6DOF; force feedback; hand controllers; haptic devices; microscopic neurosurgery; neuroarm; robot-assisted circular tracing task; robot-assisted surgery; robotic system; rotational degree-of-freedom; tissue manipulation; torque feedback rendering; virtual reality simulator; Elbow; Haptic interfaces; Joints; Phantoms; Robots; Surgery; Torque; haptics; neuroArm; robot-assisted surgery; torque feedback; virtual reality;
Conference_Titel :
Systems, Man, and Cybernetics (SMC), 2013 IEEE International Conference on
Conference_Location :
Manchester
DOI :
10.1109/SMC.2013.574
