Design and performance evaluation of a haptic interface based on MR fluids for endovascular tele-surgery

Song, Yu; Guo, Shuxiang; Yin, Xuanchun; Zhang, Linshuai; Wang, Yu; Hirata, Hideyuki; Ishihara, Hidenori

doi:10.1007/s00542-017-3404-y

Cited by 56 publications

(16 citation statements)

References 30 publications

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“…Furthermore, different from the above application types, the MRF has been further developed, and has in recent years become an important part of the haptic feedback system (Song et al, 2018b) and artificial limbs (Pandit et al, 2018) in the medical field. In the haptic feedback system based on the MRF, using the controlled rheological characteristics, a resistance environment similar to the real sense of touch is generated and transmitted to the operator, which is widely applied to the teleoperated catheter operating system (Song et al, 2018a) or intelligent haptic interface devices (Topcu et al, 2018). Moreover, in some medical auxiliary and customized devices, such as prostheses (Jing et al, 2018;Zhou and Liu, 2020), rehabilitation protection devices , and skeletons (Veronneau et al, 2018), the MRF has been widely studied for advantages of adjustable stiffness and easy structure integration.…”

Section: Introductionmentioning

confidence: 99%

A Review on Structural Configurations of Magnetorheological Fluid Based Devices Reported in 2018–2020

Hua

Liu

Li³

et al. 2021

Front. Mater.

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Magnetorheological fluid (MRF) is a kind of smart materials with rheological behavior change by means of external magnetic field application, which has been widely adopted in many complex systems of different technical fields. In this work, the state-of-the-art MRF based devices are reviewed according to structural configurations reported from 2018 to 2020. Based on the rheological characteristic, the MRF has a variety of operational modes, such as flow mode, shear mode, squeeze mode and pinch mode, and has unique advantages in some special practical applications. With reference to these operational modes, improved engineering mechanical devices with MRF are summarized, including brakes, clutches, dampers, and mounts proposed over these 3 years. Furthermore, some new medical devices using the MRF are also investigated, such as surgical assistive devices and artificial limbs. In particular, some outstanding advances on the structural innovations and application superiority of these devices are introduced in detail. Finally, an overview of the significant issues that occur in the MRF based devices is reported, and the developing trends for the devices using the MRF are discussed.

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Section: Introductionmentioning

confidence: 99%

A Review on Structural Configurations of Magnetorheological Fluid Based Devices Reported in 2018–2020

Hua

Liu

Li³

et al. 2021

Front. Mater.

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“…Robotic teleoperation and haptic teleoperation has been a highly active topic in last years, specially now with the active development of virtual reality and haptic interfaces [329][330][331][332][333][334]. e time delay in these applications arises mainly to the latency aspects of the virtual reality system [335][336][337][338], and the network traffic in a teleoperation system [339][340][341][342].…”

Section: Robotic Teleoperation and Predictor-based Controlmentioning

confidence: 99%

A Panoramic Sketch about the Robust Stability of Time-Delay Systems and Its Applications

et al. 2020

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This paper presents a brief review on the current applications and perspectives on the stability of complex dynamical systems, with an emphasis on three main classes of systems such as delay-free systems, time-delay systems, and systems with uncertainties in its parameters, which lead to some criteria with necessary and/or sufficient conditions to determine stability and/or stabilization in the domains of frequency and time. Besides, criteria on robust stability and stability of nonlinear time-delay systems are presented, including some numerical approaches.

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“…However, in the case of pneumatic pressure, there is a lack of expression of the state of tissues with incompressible characteristics because compressible gas is entered. To supplement these points, many tactile devices using magnetorheological materials have been recently proposed in RMIS (Robot-assisted Minimally Invasive Surgery) [ 30 , 31 , 32 , 33 , 34 , 35 , 36 , 37 ]. A lot of research has been carried out on the development of Haptic Master using MR materials [ 30 , 38 ].…”

Section: Introductionmentioning

confidence: 99%

A Cylindrical Grip Type of Tactile Device Using Magneto-Responsive Materials Integrated with Surgical Robot Console: Design and Analysis

Park

Lee

Choi

2022

Sensors

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This paper proposes a cylindrical grip type of tactile device that is effectively integrated to a surgical robot console so that a surgeon can easily touch and feel the same stiffness as the operating organs. This is possible since the yield stress (or stiffness) of magnetic-responsive materials can be tuned or controlled by the magnetic field intensity. The proposed tactile device consists of two main parts: a magnetorheological elastomer (MRE) layer and a magnetorheological fluid (MRF) core. The grip shape of the device to be positioned on the handle part of the master of the surgical robot is configured and its operating principle is discussed. Then, a couple of equations to calculate the stiffness from the gripping force and the field-dependent yield stress of MRF are derived and integrated using the finite element analysis (FEA) model. After simulating the stiffness of the proposed tactile device as a function of the magnetic field intensity (or current), the stiffnesses of various human organs, including the liver and heart, are calculated from known data of an elastic modulus. It is demonstrated from comparative data between calculated stiffness from human tissues and simulated stiffness from FEA that the proposed tactile device can generate sufficient stiffness with a low current level to recognize various human organs which are significantly required in the surgical robot system.

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Design and performance evaluation of a haptic interface based on MR fluids for endovascular tele-surgery

Cited by 56 publications

References 30 publications

A Review on Structural Configurations of Magnetorheological Fluid Based Devices Reported in 2018–2020

A Review on Structural Configurations of Magnetorheological Fluid Based Devices Reported in 2018–2020

A Panoramic Sketch about the Robust Stability of Time-Delay Systems and Its Applications

A Cylindrical Grip Type of Tactile Device Using Magneto-Responsive Materials Integrated with Surgical Robot Console: Design and Analysis

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