FORCE SENSING AND HAPTIC FEEDBACK FOR ROBOTIC TELESURGERY
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open in viewerRobot-assisted surgery is an alternative to conventional laparoscopic techniques. The primary commercially available system, the da Vinci, does not provide haptic feedback. The goal of this research was to develop a force sensing module capable of integrating with the da Vinci system and provide the operator with a representation of tool-tissue interaction forces. Joint torque sensors were developed and calibrated linearly (R2= 0.99). The sensor module was fit to a da Vinci system and confirming integration. Additionally, our aim was to develop a test platform for evaluating and implementing haptic feedback and telesurgery techniques. An industrial robot was fit with a spherical wrist and an embedded Linux control system allowing the surgical tool to be articulated about a remote center.
- This report represents the work of one or more WPI undergraduate students submitted to the faculty as evidence of completion of a degree requirement. WPI routinely publishes these reports on its website without editorial or peer review.
- Creator
- Publisher
- Identifier
- E-project-042910-090522
- Advisor
- Year
- 2010
- Date created
- 2010-04-29
- Ort
- New York
- Resource type
- Major
- Rights statement
- Zuletzt geändert
- 2020-11-23
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- In Collection:
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Artikel
Miniaturansicht | Titel | Sichtbarkeit | Embargo Release Date | Aktionen |
---|---|---|---|---|
Haptics_MQP_Report_[Final].pdf | Öffentlich | Herunterladen |
Permanent link to this page: https://digital.wpi.edu/show/9w032468b