- Title
- Movement safety control method of a haptic device for Minimally Invasive Surgery
- Creator
- Saafi, Houssem; Laribi, Med Amine; Zeghloul, Saïd; Ibrahim, Yousef
- Date
- 2014
- Type
- Text; Conference paper
- Identifier
- http://researchonline.federation.edu.au/vital/access/HandleResolver/1959.17/158555
- Identifier
- vital:11805
- Identifier
-
https://doi.org/10.1109/ISIE.2014.6864790
- Identifier
- ISBN: 978-1-4799-2399-1
- Abstract
- Abstract: The overall objective of this work is to develop a system composed of master, slave and a control system for special medical applications. A PROMIS (Pprime RObot for Minimally Invasive Surgery) system is designed to be cost-effective with a less complication of use and an application-specific for collaborative operations between the surgeon and the robot. This paper focuses on the introduction of a motion safety control methodology for a haptic device. The haptic device is used as a master with a parallel spherical architecture (SPM). The introduced control methodology is based on the workspace of the medical application. Three areas of the workspace are defined with a consideration of the degree of security. An algorithm that constantly keeps the mobile platform in a safe region, when the surgeon moves it, is presented and explained. The developed algorithm runs in real-time using a programmable logic controller (PLC). The control strategy of the haptic device was successfully tested and validated experimentally.
- Publisher
- IEEE
- Relation
- 2014 IEEE 23rd International Symposium on Industrial Electronics (ISIE) p. 1233-1238
- Rights
- © 2014 IEEE
- Rights
- This metadata is freely available under a CCO license
- Subject
- Forward Kinematic Model; Safety control; Haptic device; Spherical parallel manipulator
- Reviewed
- Hits: 623
- Visitors: 589
- Downloads: 0
| Thumbnail | File | Description | Size | Format |
|---|