Design of a 5-dof haptic simulator for urological operations

Papadopoulos, E; Vlachos, K; Mitropoulos, D

dc.contributor.author	Papadopoulos, E	en
dc.contributor.author	Vlachos, K	en
dc.contributor.author	Mitropoulos, D	en
dc.date.accessioned	2014-03-01T02:42:05Z
dc.date.available	2014-03-01T02:42:05Z
dc.date.issued	2002	en
dc.identifier.issn	10504729	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/30775
dc.subject	Degree of Freedom	en
dc.subject	Force Feedback	en
dc.subject	Haptic Feedback	en
dc.subject.other	Actuators	en
dc.subject.other	Computational methods	en
dc.subject.other	Degrees of freedom (mechanics)	en
dc.subject.other	Haptic interfaces	en
dc.subject.other	Medical applications	en
dc.subject.other	Simulators	en
dc.subject.other	Urology	en
dc.subject.other	Haptic simulator	en
dc.subject.other	Roll pitch yaw motions	en
dc.subject.other	Training simulators	en
dc.subject.other	Urological operations	en
dc.subject.other	Control system synthesis	en
dc.title	Design of a 5-dof haptic simulator for urological operations	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ROBOT.2002.1014847	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ROBOT.2002.1014847	en
heal.publicationDate	2002	en
heal.abstract	A new haptic feedback mechanism with five active degrees of freedom (dof), part of a training simulator for urological operations, is presented. The mechanism consists of a 2-dof 5-bar linkage, and a 3-dof spherical joint. To reproduce very small forces and moments, the mechanism has low friction, inertia and mass, is statically balanced, and has a simple mass matrix. Roll-pitch-yaw motions of the tool result in motions of the corresponding actuator. Force feedback transmission is achieved via capstan drives and idler pulleys. The computation of the currents and the structure of the control loop are described.	en
heal.journalName	Proceedings - IEEE International Conference on Robotics and Automation	en
dc.identifier.doi	10.1109/ROBOT.2002.1014847	en
dc.identifier.volume	2	en
dc.identifier.spage	2079	en
dc.identifier.epage	2084	en