Haptic Effects of Surgical Teleoperator Flexibility

DSpace/Manakin Repository

Haptic Effects of Surgical Teleoperator Flexibility

Show simple item record

dc.contributor.author Howe, Robert
dc.contributor.author Tavakoli, Mahdi
dc.date.accessioned 2009-01-06T16:15:51Z
dash.embargo.terms 2010-08-31
dc.date.issued 2009
dc.identifier.citation Tavakoli, Madhi and Robert E. Howe. Forthcoming. International Journal of Robotics Research 28. en
dc.identifier.issn 0278-3649 en
dc.identifier.uri http://nrs.harvard.edu/urn-3:HUL.InstRepos:2465625
dc.description.abstract Minimally invasive surgery systems typically involve thin and cable-driven surgical instruments. This introduces link and joint flexibility in the slave robot of a master-slave teleoperation system, reducing the effective stiffness of the slave and the transparency of teleoperation. In this paper, we analyze transparency under slave link and joint flexibility (tool flexibility). We also evaluate the added benefits of using extra sensors at the tip of the flexible robot. It is shown that tip velocity (or position) feedback improves free-space position tracking performance in the presence of robot flexibility. Also, when the interaction forces with an environment are measured by a force sensor and fed back to the user’s hand, tip velocity feedback improves hard-contact force tracking performance. During a hard contact task, tip velocity feedback can also eliminate the transmission of robot flexibility to the user’s hand. Parts of this research have previously been published as M. Tavakoli, R.D. Howe, The Effect of Joint Elasticity on Bilateral Teleoperation, In Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots & Systems, pp. 1618-1623, San Diego, CA, 2007, and as M. Tavakoli, R.D. Howe, Haptic Implications of Tool Flexibility in Surgical Teleoperation, In Proceedings of the 16th Symposium on Haptic Interfaces for Virtual Environments & Teleoperator Systems, pp. 377-378, Reno, NV, March 2008. en
dc.description.sponsorship Engineering and Applied Sciences en
dc.publisher MIT Press en
dc.relation.isversionof http://www.ijrr.org/ en
dash.license LAA
dc.title Haptic Effects of Surgical Teleoperator Flexibility en
dc.type Journal Article
dc.description.version Accepted Manuscript
dc.relation.journal International Journal of Robotics Research en
dash.depositing.author Howe, Robert
dc.date.available 2010-08-31T07:30:35Z

Files in this item

Files Size Format View
Tavakoli_Haptic.pdf 778.0Kb PDF View/Open

This item appears in the following Collection(s)

  • FAS Scholarly Articles [7078]
    Peer reviewed scholarly articles from the Faculty of Arts and Sciences of Harvard University

Show simple item record

 
 

Search DASH


Advanced Search
 
 

Submitters