A Six Degrees of Freedom Haptic Interface for Laparoscopic Training

Abstract

We present the novel kinematics, workspace characterization, functional prototype and impedance control of a six degrees of freedom haptic interface designed to train surgeons for laparoscopic procedures, through virtual reality simulations. The parallel kinematics of the device is constructed by connecting a 3RRP planar parallel mechanism to a linearly actuated modified delta mechanism with a connecting link. The configuration level forward and inverse kinematics of the device assume analytic solutions, while its workspace can be shaped to enable large end-effect or translations and rotations, making it well-suited for laparoscopy operations. Furthermore, the haptic interface features a low apparent inertia with high structural stiffness, thanks to its parallel kinematics with grounded actuators.A model-based open-loop impedance controller with feed-forward gravity compensation has been implemented for the device and various virtual tissue/organ stiffness levels have been rendered.

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Item Type:	Proceedings Paper
Authors/Creators:	Agboh, W https://orcid.org/0000-0002-0242-0215 Yalcin, M Patoglu, V
Copyright, Publisher and Additional Information:	© 2016 IEEE. This is an author produced version of a paper accepted for publication in / published in 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. Uploaded in accordance with the publisher's self-archiving policy.
Keywords:	Laparoscopes, Surgery, Kinematics, Training, Solid modeling, Force feedback
Dates:	Published: 9 October 2016 Published (online): 1 December 2016 Accepted: 1 July 2016
Institution:	The University of Leeds
Academic Units:	The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Computing (Leeds)
Depositing User:	Symplectic Publications
Date Deposited:	07 Sep 2018 14:31
Last Modified:	18 Sep 2018 07:41
Status:	Published
Publisher:	IEEE
Identification Number:	10.1109/IROS.2016.7759187
Open Archives Initiative ID (OAI ID):	oai:eprints.whiterose.ac.uk:135326

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A Six Degrees of Freedom Haptic Interface for Laparoscopic Training

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