Proceedings of the Korean Society for Noise and Vibration Engineering Conference (한국소음진동공학회:학술대회논문집)
- 2006.11a
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- Pages.422-427
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- 2006
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- 1598-2548(pISSN)
Force-Feedback Control of an Electrorheological Haptic Device in MIS Virtual Environment
ER 유체를 이용한 햅틱 마스터와 가상 MIS 환경의 연동제어
- Published : 2006.11.16
Abstract
This paper presents force-feedback control performance of a haptic device in virtual environment of minimally invasive surgery(MIS). As a first step, based on an electrorheological(ER) fluid and spherical geometry, a new type of master device is developed and integrated with a virtual environment of MIS such as a surgical tool and human organ. The virtual object is then mathematically formulated by adopting the shape retaining chain linked(S-Chain) model. After evaluating reflection force, computational time, and compatibility with real time control, the virtual environment of MIS is formulated by interactivity with the ER haptic device in real space. Tracking control performances for virtual force trajectory are presented in time domain, and theirtrackingerrorsareevaluated.
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