Dynamic Characterization of a Parallel Haptic Device for Application as an Actuator in a Surgery Simulator

Khadivar, Farshad; Sadeghnejad, Soroush; Moradi, Hamed; Vossoughi, Gholamreza; Farahmand, Farzam

doi:10.1109/icrom.2017.8466168

Cited by 7 publications

(4 citation statements)

References 12 publications

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“…The system parameters are summarized in Table 1. It should be noted that the dynamical properties of Phantom Omni haptic device were chosen for the local robot, as measured in [29], and the dynamical properties of Novint Falcon haptic device were selected for the remote robot based on the identi cation carried out in [30]. Zero initial conditions were also applied for master and slave robots in all simulations.…”

Section: Simulation Results For Certain Systemmentioning

confidence: 99%

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Position synchronization for an uncertain teleoperation system with time delays using L1 theory

et al. 2023

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The problem of position tracking in teleoperation systems equipped with latencies and dynamical uncertainties was addressed in this study. In many applications, such as telesurgery, safe interaction with the external environment is a factor that may undermine the synchronization of the positions. In the case of nondestructive contact with the environment, in addition to an errorless steady-state position tracking, the closedloop system requires a response with the least possible overshoot. To this end, a statefeedback controller based upon L 1 theory was proposed in this paper. The compensator was synthesized using Linear Matrix Inequality (LMI) technology, and the asymptotic stability of the system was veri ed through Lyapunov-Krasovskii functional. Considered its advantage, the proposed control scheme is robust to asymmetric randomly varying time delays in the communication channels. The L 1 -based controller was nally compared to the well-known sliding mode controller through simulation, and it proved to outperform its counterpart from the maximum error point of view while preserving low steady-state error. The proposed controller was also proved to be e ective even in the presence of model uncertainties.

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Section: Simulation Results For Certain Systemmentioning

confidence: 99%

“…the condition z T (t)z(t) < 2 w T (t) w(t) will clearly be concluded. Rewriting Inequality (30) in the form of:…”

Section: Synthesis Of L 1 -Based Controllermentioning

confidence: 99%

Position synchronization for an uncertain teleoperation system with time delays using L1 theory

et al. 2023

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“…To design a model predictive feedback (MPC) control scheme for a virtual‐based haptic system, we need to characterize the dynamical behavior of the haptic interfaces . Since the Falcon robot can only provide the position of the end effector to the user, the robot is equipped with UMMA5Kg.f force sensors, produced by Dacell Company that measures the operator forces (Figure A).…”

Section: Development Of An Endoscopic Sinus Training Systemmentioning

confidence: 99%

“…Since the Falcon robot can only provide the position of the end effector to the user, the robot is equipped with UMMA5Kg.f force sensors, produced by Dacell Company that measures the operator forces (Figure A). Moreover, to characterize the haptic device nonlinearities, we applied a piecewise linear model for each operational point in the robot's end‐effector workspace . In our work, an improved online robust model predictive control for a virtual‐based haptic system was proposed based on an online modified robust output feedback MPC algorithm for LPV systems based on a quasi–min‐max algorithm.…”

Section: Development Of An Endoscopic Sinus Training Systemmentioning

confidence: 99%

A validation study of a virtual‐based haptic system for endoscopic sinus surgery training

Sadeghnejad

Khadivar

Abdollahi

et al. 2019

Robotics Computer Surgery

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Background:The development of endoscopic sinus surgery (ESS) training simulators for clinical environment applications has reduced the existing shortcomings in conventional teaching methods, creating a standard environment for trainers and trainees in a more accurate and repeatable fashion. Materials and methods:In this research, the validation study of an ESS training simulator has been addressed. It is important to consider components that guide trainees to improve their hand movements control in the orbital floor removal in an ESS operation. Therefore, we defined three tasks to perform: pre-experiment learning, training, and evaluation. In these tasks, the critical regions introduced in the virtual training environment are forbidden to be touched. Recruiting 20 participants, divided into two groups, we investigated the performance metrics: quality (the percentage of the realism for the generated force for orbital floor removal and the usefulness of the proposed training system for the surgical educational curricula.), efficiency (time, path length), and safety (touching the goal and forbidden wall). Results:All recruited participants answered a post-evaluation questionnaire regarding their perceptions of training system realism, potential educational benefits, and practiced skills. We investigate the differences between groups' performance metrics by utilizing the analysis of variance-Kruskal-Wallis test. Acquired results indicate that training before the actual process of the surgery has a significant effect on the accuracy and validity of the process for surgeons. Conclusions:Utilizing a standardized environment, trainers and trainees are able to carry out a process with regular features. In addition to traditional education methods, trainees can learn the risk of surgical operations. The training simulators can, also, provide a standard method for assessing the skills of surgical and medical students.

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Using an Improved Output Feedback MPC Approach for Developing a Haptic Virtual Training System

Sadeghnejad

Khadivar

Esfandiari

et al. 2023

J Optim Theory Appl

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Dynamic Characterization of a Parallel Haptic Device for Application as an Actuator in a Surgery Simulator

Cited by 7 publications

References 12 publications

Position synchronization for an uncertain teleoperation system with time delays using L1 theory

Position synchronization for an uncertain teleoperation system with time delays using L1 theory

A validation study of a virtual‐based haptic system for endoscopic sinus surgery training

Using an Improved Output Feedback MPC Approach for Developing a Haptic Virtual Training System

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