Backlash compensation by smooth backlash inverse for haptic master device using cable-conduit

The robotic surgery, which is the one of the major robotic technology, has some problems that a surgeon checks vision and sound information thought the surgical process. In order to solve this limited information, the haptic function is necessary. But it requires much more information through variou...

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Bibliographic Details
Published in2014 14th International Conference on Control, Automation and Systems (ICCAS 2014) pp. 127 - 132
Main Authors Sung-Min Yoon, Woo-Hyeok Choi, Min-Cheol Lee
Format Conference Proceeding
LanguageEnglish
Published Institute of Control, Robotics and Systems (ICROS) 01.10.2014
Subjects
cable-conduit
Fingers
haptic
Lead
Master device
Materials
Performance evaluation
Robots
surgical robot
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Summary:The robotic surgery, which is the one of the major robotic technology, has some problems that a surgeon checks vision and sound information thought the surgical process. In order to solve this limited information, the haptic function is necessary. But it requires much more information through various sensors to haptic realization. However, because of the special environment inside human body, it is not easy to apply sensors such as a force sensor. The master device for laparoscope operation with cable-conduit was developed to give haptic function as a previous research. This suggested a possibility of developing a master device by using the cable-conduit. There is possibility that master device using cable-conduit occur a backlash. Thus, this paper addresses backlash compensation by smooth backlash inverse.
ISSN:2093-7121
DOI:10.1109/ICCAS.2014.6987971