Abstract
Natural Orifice Transluminal Endoscopic Surgery (NOTES) involves the surgical treatment of a patient by reaching the location of surgery through the natural orifices of the human body. In the Robotic-NOTES, there is a bilateral teleoperation system between master and slave robots. Here, the Phantom Omni haptic device that gives motion trajectory and gets the force feedback is used as a master. The surgical manipulators, i.e., a miniature robot that follows the trajectory given by the master and interacts with the environment is used as a slave. In this work, firstly, the study of kinematic relation for the tip position and joint angles of the master and slave is carried out. Then the joint angles for a tip position of the slave robot are calculated for the trajectory planning. After that, a virtual environment is created to get the force feedback for the master from the slave while performing tissue manipulation for the virtual stomach model. Force feedback that we get in a virtual haptic environment will help in training a naive surgeon. Variation in the forces applied to the stomach virtual model and the force feedback in the master device is negligible.
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Acknowledgements
The financial assistance to Mr. Sarvesh Saini in the form of a Research Fellowship (SRF)(sanction file no. is 09/143(0895)/2017-EMR-I) of the Council of Scientific and Industrial Research (CSIR), New Delhi is greatly acknowledged.
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Saini, S., Pathak, P.M. (2022). Experimental and Simulation Study of Haptically Enabled Robotic Teleoperation for NOTES. In: Kumar, R., Chauhan, V.S., Talha, M., Pathak, H. (eds) Machines, Mechanism and Robotics. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-16-0550-5_106
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DOI: https://doi.org/10.1007/978-981-16-0550-5_106
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