Design and Implementation of a Haptic Device for Training in Urological Operations

Vlachos, K; Papadopoulos, E; Mitropoulos, DN

dc.contributor.author	Vlachos, K	en
dc.contributor.author	Papadopoulos, E	en
dc.contributor.author	Mitropoulos, DN	en
dc.date.accessioned	2014-03-01T01:18:50Z
dc.date.available	2014-03-01T01:18:50Z
dc.date.issued	2003	en
dc.identifier.issn	1042-296X	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/15220
dc.subject	Force feedback	en
dc.subject	Haptic devices	en
dc.subject	Training medical simulators	en
dc.subject	Urological operations	en
dc.subject.classification	Automation & Control Systems	en
dc.subject.classification	Engineering, Electrical & Electronic	en
dc.subject.classification	Robotics	en
dc.subject.other	Actuators	en
dc.subject.other	Degrees of freedom (mechanics)	en
dc.subject.other	Feedback	en
dc.subject.other	Kinematics	en
dc.subject.other	Urology	en
dc.subject.other	Virtual reality	en
dc.subject.other	Haptic devices	en
dc.subject.other	Robotics	en
dc.title	Design and Implementation of a Haptic Device for Training in Urological Operations	en
heal.type	journalArticle	en
heal.identifier.primary	10.1109/TRA.2003.817064	en
heal.identifier.secondary	http://dx.doi.org/10.1109/TRA.2003.817064	en
heal.language	English	en
heal.publicationDate	2003	en
heal.abstract	Virtual reality is becoming very important for training medical surgeons in various operations. Interfacing users with a virtual training environment requires the existence of a properly designed haptic device. This paper presents the design and implementation of a new force feedback haptic mechanism with five active degrees of freedom (DOFs), which is used as part of a training simulator for urological operations. The mechanism consists of a 2-DOF, 5-bar linkage, and a 3-DOF spherical joint, designed to present low friction, inertia and mass, and to be statically balanced. The device is suitable for the accurate application of small forces and moments. All five actuators of the haptic device are base-mounted dc motors and use a force transmission system based on capstan drives, pulleys, and tendons. The paper describes the overall design and sizing considerations, the resulting kinematics and dynamics, the force feedback control algorithm, and the hardware employed. Experimental results are provided.	en
heal.publisher	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC	en
heal.journalName	IEEE Transactions on Robotics and Automation	en
dc.identifier.doi	10.1109/TRA.2003.817064	en
dc.identifier.isi	ISI:000185906400005	en
dc.identifier.volume	19	en
dc.identifier.issue	5	en
dc.identifier.spage	801	en
dc.identifier.epage	809	en