TY - GEN
T1 - Development of a grasping force-feedback user interface for surgical robot system
AU - Kim, Uikyum
AU - Seok, Dong Yeop
AU - Kim, Yong Bum
AU - Lee, Dong Hyuk
AU - Choi, Hyouk Ryeol
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/11/28
Y1 - 2016/11/28
N2 - This paper presents a grasping force-feedback user interface (GFUI) which transfers the accurate kinesthetic force detected during robot-assisted minimally invasive surgery (RMIS) to a user, and allows the users to perform grasping motions with articulation and intuition. Using the GFUI, a developed robot hardware (S-surge) is controlled, and the force data measured from the robot are reflected to the GFUI. To evaluate the effect of grasping force-feedback control using the GFUI, a group of subjects (n=10) participated in a standard peg transfer tasks with and without the feedback control. To conduct the tasks, a developed robot hardware and a commercial haptic device were used which make the entire surgical environment including the GFUI as a master-slave controlled system. As a result, the performance of the GFUI was verified through the conducted tasks using the entire surgical system.
AB - This paper presents a grasping force-feedback user interface (GFUI) which transfers the accurate kinesthetic force detected during robot-assisted minimally invasive surgery (RMIS) to a user, and allows the users to perform grasping motions with articulation and intuition. Using the GFUI, a developed robot hardware (S-surge) is controlled, and the force data measured from the robot are reflected to the GFUI. To evaluate the effect of grasping force-feedback control using the GFUI, a group of subjects (n=10) participated in a standard peg transfer tasks with and without the feedback control. To conduct the tasks, a developed robot hardware and a commercial haptic device were used which make the entire surgical environment including the GFUI as a master-slave controlled system. As a result, the performance of the GFUI was verified through the conducted tasks using the entire surgical system.
UR - https://www.scopus.com/pages/publications/85006421236
U2 - 10.1109/IROS.2016.7759149
DO - 10.1109/IROS.2016.7759149
M3 - Conference contribution
AN - SCOPUS:85006421236
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 845
EP - 850
BT - IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
Y2 - 9 October 2016 through 14 October 2016
ER -