Approximate Friction and Gravity Compensation in Haptic Laparoscopic Surgery Simulator

햅틱 복강경 수술 시뮬레이터의 마찰력 및 중력 보상

  • Kim, Sang-Hyun (School of Mechanical and Aerospace Engineering, Seoul Nat'l Univ.) ;
  • Lee, Chang-Gyu (School of Mechatronics, Gwangju Institue of Science and Technology) ;
  • Kim, Ji-Suk (School of Mechanical and Aerospace Engineering, Seoul Nat'l Univ.) ;
  • Ryu, Je-Ha (School of Mechatronics, Gwangju Institue of Science and Technology)
  • 김상현 (서울대학교 기계항공공학부) ;
  • 이창규 (광주과학기술원 기전공학과) ;
  • 김지석 (서울대학교 기계항공공학부) ;
  • 류제하 (광주과학기술원 기전공학과)
  • Received : 2010.12.16
  • Accepted : 2011.05.02
  • Published : 2011.08.01


Laparoscopic surgery is being used in various surgical fields because it minimizes scarring. Laparoscopic operations require practical hand skills, so surgeons train on animals and via surgery training tool sets. However, these tool sets do not give the surgeon the sensation of touching real organs. A recently developed laparoscope simulator has a high friction force along the translational axis and a high gravity force along the pitch axis, and therefore it does not permit the operator to control his or her hands delecately. In the paper, the friction force along the axes is auumed to depend on the veolcity, and the gravity force on the angle and distance. We develop a compensation model that combines the gravity and friction force models.


Haptics;Friction Compensation;Gravity Force Compensation;Laparoscope


Supported by : 정보통신산업진흥원


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