Haptic Interface with Twin-Driven MR Fluid Actuator for Teleoperation Endoscopic Surgery System
<p>Main components of the H-MRD for ES.</p> "> Figure 2
<p>Components of the gimbal and insertion structure of the H-MRD for ES.</p> "> Figure 3
<p>Coordinate system for the ground and end-effector of the H-MRD for ES.</p> "> Figure 4
<p>Robotic forceps for a single arm surgical robot.</p> "> Figure 5
<p>SAR for ES.</p> "> Figure 6
<p>Control systems of the H-MRD for ES.</p> "> Figure 7
<p>Control systems of the SAR for ES.</p> "> Figure 8
<p>Control systems of the leader-follower system.</p> "> Figure 9
<p>Experimental setup for MR-Haptic Master.</p> "> Figure 10
<p>Experimental setup for SAR.</p> ">
Abstract
:1. Introduction
2. Haptic Interface for Tele-Operational Endoscopic Surgery and Leader-Follower Systems
2.1. Basic Structure of the Haptic Interface
2.2. Kinematics and Statics of the Haptic Interface
2.3. Basic Structure of the Follower System
2.4. Controller for the Leader-Follower System
3. Methods
4. Results
4.1. Success Rate
4.2. Subjective Analysis
5. Discussion
6. Conclusions
Author Contributions
Funding
Conflicts of Interest
References
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Item | Value |
---|---|
ROM for roll | −30°–60° |
ROM for pitch | −45°–45° |
ROM for yaw | −45°–45° |
Maximum reaction force on the handgrip | 3 N (min) |
ROM of gripper | −15°–15° |
Maximum reaction torque for griping | 0.64 Nm |
Subject | (H1) Haptics 1 | (N) No Haptics | (H2) Haptics 2 |
---|---|---|---|
A | 1/1 | 3/4 | 3/5 |
B | 2/4 | 2/6 | 3/6 |
C | 1/3 | 0/3 | 1/3 |
D | 1/2 | 1/3 | 4/4 |
E | 1/3 | 0/2 | 2/4 |
Item | (H1) Haptics 1 | (N) No Haptics | (H2) Haptics 2 |
---|---|---|---|
(a) Mental demand | 0.491 ± 0.272 | 0.710 ± 0.260 | 0.532 ± 0.348 |
(b) Physical demand | 0.464 ± 0.287 | 0.643 ± 0.172 | 0.548 ± 0.251 |
(c) Temporal demand | 0.594 ± 0.324 | 0.709 ± 0.258 | 0.499 ± 0.248 |
(d) Performance | 0.492 ± 0.319 | 0.708 ± 0.179 | 0.412 ± 0.248 |
(e) Effort | 0.580 ± 0.220 | 0.749 ± 0.242 | 0.412 ± 0.140 |
(f) Frustration | 0.416 ± 0.348 | 0.560 ± 0.277 | 0.470 ± 0.300 |
Item | (N-H1) | (H2-H1) |
---|---|---|
(a) Mental demand | 0.220 | 0.041 |
(b) Physical demand | 0.179 | 0.084 |
(c) Temporal demand | 0.115 | −0.095 |
(d) Performance | 0.216 | −0.080 |
(e) Effort | 0.172 | −0.109 |
(f) Frustration | 0.145 | −0.047 |
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Kikuchi, T.; Takano, T.; Yamaguchi, A.; Ikeda, A.; Abe, I. Haptic Interface with Twin-Driven MR Fluid Actuator for Teleoperation Endoscopic Surgery System. Actuators 2021, 10, 245. https://doi.org/10.3390/act10100245
Kikuchi T, Takano T, Yamaguchi A, Ikeda A, Abe I. Haptic Interface with Twin-Driven MR Fluid Actuator for Teleoperation Endoscopic Surgery System. Actuators. 2021; 10(10):245. https://doi.org/10.3390/act10100245
Chicago/Turabian StyleKikuchi, Takehito, Tetsumasa Takano, Akinori Yamaguchi, Asaka Ikeda, and Isao Abe. 2021. "Haptic Interface with Twin-Driven MR Fluid Actuator for Teleoperation Endoscopic Surgery System" Actuators 10, no. 10: 245. https://doi.org/10.3390/act10100245