Experimental tissue parameter identification for use in endoscopic urological haptic simulators

• A method is developed for obtaining parameters for tube-like soft-tissues, to be used in urological haptic simulators. A device was designed and built that allows the acquisition of forces and displacements during endoscope insertion in a tubelike soft tissue. The device consists of a mechatronic ball screw mechanism, with a 6 DOF force/ torque sensor attached to it. The steel shaft representing the endoscope, is commanded to follow desired trajectories with micrometric accuracy under the application of an IPD controller, implemented on a dSpace 1103 system. The experimental data acquired is fitted to polynomials to yield a tissue model that can be used to predict insertion forces required for haptic simulator feedback.

Ämnesord

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)

Nyckelord

Biological tissues

Endoscopes

Fasteners

Force sensors

Haptic interfaces

Mechatronics

Parameter estimation

Predictive models

Steel

Torque

biological tissues

endoscopes

medical control systems

parameter estimation

IPD controller

dSpace 1103 system

endoscope insertion

endoscopic urological haptic simulators

experimental tissue parameter identification

mechatronic ball screw mechanism

micrometric accuracy

tube-like soft tissues

Soft tissue modeling

endoscopic surgery simulation

haptic feedback

tissue identification

Publikations- och innehållstyp

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