Transactions of the Korean Society for Noise and Vibration Engineering (한국소음진동공학회논문집)

The Korean Society for Noise and Vibration Engineering (한국소음진동공학회)
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Force-feedback Control of an Electrorheological Haptic Device in MIS Virtual Environment

전기유변 유체를 이용한 햅틱 마스터와 가상의 최소침습수술 환경과의 연동제어

  • 강필순 (인하대학교 대학원 기계공학과) ;
  • 한영민 (인하대학교 기계공학부) ;
  • 최승복 (인하대학교 기계공학과)
  • Published : 2006.12.20
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Abstract

This paper presents force-feedback control performance of a haptic device in virtual environment of minimally invasive surgery(MIS). As a first step, based on an electrorheological (ER) fluid and spherical geometry, a new type of master device is developed and integrated with a virtual environment of MIS such as a surgical tool and human organ. The virtual object is then mathematically formulated by adopting the shape retaining chain linked(S-chain) model. After evaluating reflection force, computational time, and compatibility with real time control, the virtual environment of MIS is formulated by interactivity with the ER haptic device in real space. Tracking control performances for virtual force trajectory are presented in time domain.

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References

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