Surgical Simulation Robot with Haptics and Friction Compensation

  • Tao Yang
  • Weimin Huang
  • Kyaw Kyar Toe
  • Jiayin Zhou
  • Yuping Duan
  • Yanling Chi
  • Loong Ee Loh
Conference paper
First Online:
Part of the Lecture Notes in Computer Science book series (LNCS, volume 9515)

Abstract

Haptic feedback brings a surgical simulator closer to real surgery. However, friction in surgical simulator’s hardware affects its performance significantly. We introduce a surgical simulation robot with roller mechanism for laparoscopic surgical simulation. Roller mechanism is implemented in a constrained space to reduce the friction. Motion based friction cancellation method is also applied to further mitigate the friction effects. Comparing with the same surgical simulation robot without roller mechanism, the one with roller mechanism reduces friction by 32.86 % and 38.87 % on two motion directions, and the motion based friction cancellation method can mitigate the friction effect by 49.46 % and 62.08 % on the two motion directions.

Keywords

Laparoscopic surigcal simulator Haptics Friction compensation 
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Notes

Acknowledgments

This work is supported by Agency for Science, Technology and Research, Singapore.

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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • Tao Yang
    • 1
  • Weimin Huang
    • 1
  • Kyaw Kyar Toe
    • 1
  • Jiayin Zhou
    • 1
  • Yuping Duan
    • 1
  • Yanling Chi
    • 1
  • Loong Ee Loh
    • 2
  1. 1.Institute for Infocomm ResearchSingaporeSingapore
  2. 2.School of Mechanical and Aerospace EngineeringNanyang Technological UniversitySingaporeSingapore

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