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A novel SEA‐based haptic force feedback master hand controller for robotic endovascular intervention system by Kundong Wang; Ximing Mai; Haijin Xu; Qingsheng Lu; Weiwu Yan is a Medicine article available to read on EtoBox.

What is A novel SEA‐based haptic force feedback master hand controller for robotic endovascular intervention system about?

Robotic Endovascular Intervention System (REIS) has been a focused and interesting area in robot-assisted tele-surgery. While, haptic feedback is the latest advancing study in interventional robots. Few systems with haptic feedback are commercialized due to accuracy, instantaneity and the lack of surgeon previous experience on interventional surgery. In this paper, a novel haptic force feedback master hand controller system is proposed to solve the problems. A SEA (Series Elastic Actuators)-based mechanism is designed to provide feedback force with high force/torque fidelity, low impedance and inertia. Also, the handle of the mechanism is similar to the catheter, making the surgeon operate the tele-surgery with his experience. The control model of the system is built and PID algorithms are explored to realize the motion control. PID parameters are optimized for fast response time and stability. The experiments and results demonstrate that the master hand controller system has maximum feedback force relative error of 3%, instantaneity of 0.89 seconds and tracking performance of 9Hz frequency 3dB bandwidth.

Who reads A novel SEA‐based haptic force feedback master hand controller for robotic endovascular intervention system?

Author

Kundong Wang; Ximing Mai; Haijin Xu; Qingsheng Lu; Weiwu Yan

Publisher

Wiley (Robotic Publications); John Wiley & Sons Ltd.; Wiley (ISSN 1478-5951)

Published

2020

Language

EN

Field

Medicine (Health Sciences)