Force Feedback Control System Dedicated for Robin Heart Surgical Robot

Nawrat, Zbigniew; Rohr, Kamil; Fürjes, Péter; Mucha, Łukasz; Lis, Krzysztof; J, Radó; Dücső, Csaba; Földesy, Péter; Sadowski, W; Krawczyk, Dariusz; Kroczek, Piotr; Szebényi, Gábor; Soós, Pál; Małota, Z.

doi:10.1016/j.proeng.2016.11.213

Cited by 8 publications

(4 citation statements)

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“…In my Robin Heart Team in Zabrze, we conduct research and design work, and we build and test mechatronic robots and tools. The FRK Biocybernetics Laboratory is also a pioneer in the field of simulation and modeling of heart surgery by creating data on the hemodynamic effects of surgery performed in a given way [15][16][17][18][19] . Figure 2 shows examples that demonstrate the achievements of the FRK within the scope of 1-3 of the AI implementation plan for MIS.…”

Section: Frk Own Experiencementioning

confidence: 99%

MIS AI - artificial intelligence application in minimally invasive surgery

Nawrat¹

2020

MIS

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Section: Frk Own Experiencementioning

confidence: 99%

MIS AI - artificial intelligence application in minimally invasive surgery

Nawrat¹

2020

MIS

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“…Together with the development of Polish medical robotics and the first industrial implementation of Robin Heart PVA robot in the Foundation for Cardiac Surgery Development (FRK), a tool and motion controller (with the force feedback) dedicated to the Robin Heart robot were developed. The measurement of the force that is necessary for the implementation of the force feedback can be carried out in the following several ways [11][12][13][14]:…”

Section: The Idea Of Controlmentioning

confidence: 99%

Development Works on Applying Force Feedback in Robot Control System

Mucha¹

2019

dtcse

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The article presents the design stages, the principles of operation, and the tests of the force that is exerted on the operator. It also includes the developed a laboratory stand for testing the force interactions, concepts and ways of implementing the transfer of tactile stimuli, subsequent variants of the developed devices with the short description of them, the project of the operator-surgeon stand that is based on the assumption that the method of control of this device is compatible with the natural work of the surgeon, and the project of control console that is used to manipulate the surgical robot. This paper presents the actual state of the work and further possible directions of the development of the human-machine interface which is developed within the project LIDER VIII.

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“…The cylindrical pressure sensor developed by the German company HELM™ can reach minimum size of 3.77 (height) × 2.54 (outer diameter) mm, but it can only measure the pressure in one dimension, and the user cannot obtain the information about force and moment in other dimensions. At present, the common means for the force feedback function required by the continuum robot manipulator are: integrating sensors at the end of the continuum, 2,3 designing feedback devices at the operation platform, 4 remote multi-parameter estimation, 5 etc. For the existing flexible robots applied in complex and narrow spaces, their outer diameter size is often less than 10 mm, and it is difficult for existing sensors to meet the dual requirements of compact size and multi-dimensional measurement at the same time.…”

Section: Introductionmentioning

confidence: 99%

Design and analysis of a miniature self-decoupling six-dimensional force/moment sensor

Pan

Kang

Wang

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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In recent years, the demand for force feedback with high precision, size miniaturization and operation simplicity in many fields, such as surgical robot, unmanned aerial vehicle, flexible manipulator, and etc., has become increasingly prominent. In this paper, a miniature columnar six-dimensional force/moment sensor is proposed for the suggestion of a method of miniature sensor design and analysis. A novel design scheme for the column module is proposed for the elastomer structure of the sensor, and the external size of the sensor is greatly reduced on the basis of existing researches, which can effectively make it an important part of the final integrated system of some small equipment that require force feedback. Besides, the sensor with the concave hexagonal structured columns breaks through the limitations of layered sensors, and has self-decoupling performance, which avoids cumbersome decoupling algorithms and improves the system response speed. In addition, based on finite element modeling and simulation, the performance study and design optimization of the elastomer are carried out to improve the sensitivity of the sensor. By experimental verification, the sensor designed in this study can achieve the force feedback range of ±5N, the moment feedback range of ±10Nmm, and the coupling output error is less than 0.9%.

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Force Feedback Control System Dedicated for Robin Heart Surgical Robot

Cited by 8 publications

References 1 publication

MIS AI - artificial intelligence application in minimally invasive surgery

MIS AI - artificial intelligence application in minimally invasive surgery

Development Works on Applying Force Feedback in Robot Control System

Design and analysis of a miniature self-decoupling six-dimensional force/moment sensor

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