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Proceedings Paper

Force modeling for incision surgery into tissue with haptic application
Author(s): Pyunghwa Kim; Soomin Kim; Seung-Hyun Choi; Jong-Seok Oh; Seung-Bok Choi
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Paper Abstract

This paper presents a novel force modeling for an incision surgery into tissue and its haptic application for a surgeon. During the robot-assisted incision surgery, it is highly urgent to develop the haptic system for realizing sense of touch in the surgical area because surgeons cannot sense sensations. To achieve this goal, the force modeling related to reaction force of biological tissue is proposed in the perspective on energy. The force model describes reaction force focused on the elastic feature of tissue during the incision surgery. Furthermore, the force is realized using calculated information from the model by haptic device using magnetorheological fluid (MRF). The performance of realized force that is controlled by PID controller with open loop control is evaluated.

Paper Details

Date Published: 2 April 2015
PDF: 6 pages
Proc. SPIE 9431, Active and Passive Smart Structures and Integrated Systems 2015, 94311N (2 April 2015); doi: 10.1117/12.2083756
Show Author Affiliations
Pyunghwa Kim, Inha Univ. (Korea, Republic of)
Soomin Kim, Inha Univ. (Korea, Republic of)
Seung-Hyun Choi, Inha Univ. (Korea, Republic of)
Jong-Seok Oh, Inha Univ. (Korea, Republic of)
Seung-Bok Choi, Inha Univ. (Korea, Republic of)

Published in SPIE Proceedings Vol. 9431:
Active and Passive Smart Structures and Integrated Systems 2015
Wei-Hsin Liao, Editor(s)

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