The preliminary results of a force feedback control for Sensorized Medical Robotics
Journal Title: International Journal of Advanced Research in Artificial Intelligence(IJARAI) - Year 2013, Vol 2, Issue 5
Abstract
A laparoscopic surgery system by using a robot holds many problems. Among these, its inability in delivering touching sensation to a surgeon is raised as the biggest problem. The current paper attempted to find a force feedback controlling method at the time of performing movement by using one-degree of freedom (DOF) arm of slave and master system that is used in the programming based system. The study was two methods experience force feedback control; In the first place used force sensors and otherwise, conducted for the force feedback control by using a force sensor and for the case when the sensor could not be used due to the spatial and systematic limitation. The realization of force feedback system was successful, and the experiment results of force feedback control and current based force feedback control mode based on the force sensors of one-DOF system indicates that it could be directly applied to the another multi-DOF surgical robot system that is currently under the development.
Authors and Affiliations
Duck Lee, Seoung Song, Reza Fazel-Rezai, Jaesoon Choi
Sea Ice Concentration Estimation Method with Satellite Based Visible to Near Infrared Radiometer Data Based on Category Decomposition
Unmixing method for estimation of mixing ratio of the components of which the pixel in concern consists based on inversion theory is proposed together with its application to sea ice estimation method with satellit...
New concepts of fuzzy planar graphs
Fuzzy planar graph is an important subclass of fuzzy graph. Fuzzy planar graphs and its several properties are presented. A very close association of fuzzy planar graph is fuzzy dual graph. This is also defined and...
Rice Crop Quality Evaluation Method through Regressive Analysis between Nitrogen Content and Near Infrared Reflectance of Rice Leaves Measured from Near Field
Rice crop quality evaluation method through regressive analysis between nitrogen content in the rice leaves and near infrared reflectance measurement data from near field, from radio wave controlled helicopter is p...
Parallelization of 2-D IADE-DY Scheme on Geranium Cadcam Cluster for Heat Equation
A parallel implementation of the Iterative Alternating Direction Explicit method by D’Yakonov (IADE-DY) for solving 2-D heat equation on a distributed system of Geranium Cadcam cluster (GCC) using the Message Passi...