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The International Journal of Advanced Manufacturing Technology
Erschienen in: The International Journal of Advanced Manufacturing Technology 12/2019

26.06.2019 | ORIGINAL ARTICLE

A method to enhance fidelity of force feedback control in virtual and human-robot micro interaction cardiovascular intervention surgery

verfasst von: Zhi Hu, Yueying Wang, Su Yu, Guohua Cui

Erschienen in: The International Journal of Advanced Manufacturing Technology | Ausgabe 12/2019

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Abstract

In virtual cardiovascular surgery and human-robot micro interaction surgery, the force feedback is transmitted via the flexible guide wire. Flexible deformation would make it hard to ensure fidelity only by rendering the force feedback in actuators. This study develops a dynamic model of the guide wire, which is used to simulate the collision of guide wire in the blood vessel or pipeline of the force feedback device. Its dynamic characteristic can be adapted to the design of control strategy of the force feedback and its parameter adjustment. As the force is low, it is easily affected by the motion and friction of the actuator and hand tremor. It puts up the requirement for system robustness. Then, the terminal sliding mode controller is designed to improve the robustness and convergence of the force feedback control. And the research quantitatively evaluates the fidelity of the force feedback control.
Vorheriger Artikel Adaptive homography-based visual servo for micro unmanned surface vehicles
Nächster Artikel Cell patterning via optimized dielectrophoretic force within hexagonal electrodes in vitro for skin tissue engineering

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Metadaten
Titel
A method to enhance fidelity of force feedback control in virtual and human-robot micro interaction cardiovascular intervention surgery
verfasst von
Zhi Hu
Yueying Wang
Su Yu
Guohua Cui
Publikationsdatum
26.06.2019
Verlag
Springer London
Erschienen in
The International Journal of Advanced Manufacturing Technology / Ausgabe 12/2019
Print ISSN: 0268-3768
Elektronische ISSN: 1433-3015
DOI
https://doi.org/10.1007/s00170-019-03936-3

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