This paper describes a dual-arm teleoperation (master-slave) system which has been developed to explore the effect of haptics in robotics-assisted minimally invasive surgery (RAMIS). This setup is capable of measuring forces in 7 degrees of freedom (DOF) and fully reflecting them to the operator through two 7-DOF haptic interfaces. An application of the test bed is in enabling the evaluation of the effect of replacing haptic feedback by other sensory cues such as visual representation of haptic information (sensory substitution). This paper discusses the design rationale, kinematic analysis and dynamic modeling of the robot manipulators, and the control system developed for the setup. Using the accurate model developed in this paper, a highly transparent haptics-enabled system can be achieved and used in robot-assisted telesurgery. Validation results obtained through experiments are presented and demonstrate the correctness and effectiveness of the developed models. The application of the setup for two RAMIS surgical tasks, a suture manipulation task and a tumor localization task, is described with different haptics modalities available through the developed haptics-enabled system for each application.
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December 2014
Research-Article
A Dual-Arm 7-Degrees-of-Freedom Haptics-Enabled Teleoperation Test Bed for Minimally Invasive Surgery
Ali Talasaz,
Ali Talasaz
1
Canadian Surgical Technologies
and Advanced Robotics,
London,
and Advanced Robotics,
Lawson Health Research Institute
,London,
ON N6A 5A5
, Canada
;Department of Electrical
and Computer Engineering,
Western University,
London,
e-mail: atalasaz@uwo.ca
and Computer Engineering,
Western University,
London,
ON N6A 5B9
, Canada
e-mail: atalasaz@uwo.ca
1Corresponding author.
Search for other works by this author on:
Ana Luisa Trejos,
Ana Luisa Trejos
Canadian Surgical Technologies
and Advanced Robotics,
London,
and Advanced Robotics,
Lawson Health Research Institute
,London,
ON N6A 5A5
, Canada
;Department of Electrical
and Computer Engineering,
London,
e-mail: atrejos@uwo.ca
and Computer Engineering,
Western University
,London,
ON N6A 5B9
, Canada
e-mail: atrejos@uwo.ca
Search for other works by this author on:
Simon Perreault,
Simon Perreault
Laval University Robotics Laboratory,
Department of Mechanical Engineering,
e-mail: simon.perreault.2@ulaval.ca
Department of Mechanical Engineering,
Laval University
,Quebec City, QC G1V 0A6
, Canada
e-mail: simon.perreault.2@ulaval.ca
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Harmanpreet Bassan,
Harmanpreet Bassan
Canadian Surgical Technologies
and Advanced Robotics,
London,
and Advanced Robotics,
Lawson Health Research Institute
,London,
ON N6A 5A5
, Canada;Department of Electrical
and Computer Engineering,
Western University,
London,
e-mail: hsbassan@alumni.uwo.ca
and Computer Engineering,
Western University,
London,
ON N6A 5B9
, Canada
e-mail: hsbassan@alumni.uwo.ca
Search for other works by this author on:
Rajni V. Patel
Rajni V. Patel
Project Leader and Senior Author
Canadian Surgical Technologies
and Advanced Robotics,
Canadian Surgical Technologies
and Advanced Robotics,
Lawson Health Research Institute
,London, ON N6A 5A5
, Canada
;Department of Electrical
and Computer Engineering,
and Computer Engineering,
Western University
,London, ON N6A 5B9
, Canada
;
Search for other works by this author on:
Ali Talasaz
Canadian Surgical Technologies
and Advanced Robotics,
London,
and Advanced Robotics,
Lawson Health Research Institute
,London,
ON N6A 5A5
, Canada
;Department of Electrical
and Computer Engineering,
Western University,
London,
e-mail: atalasaz@uwo.ca
and Computer Engineering,
Western University,
London,
ON N6A 5B9
, Canada
e-mail: atalasaz@uwo.ca
Ana Luisa Trejos
Canadian Surgical Technologies
and Advanced Robotics,
London,
and Advanced Robotics,
Lawson Health Research Institute
,London,
ON N6A 5A5
, Canada
;Department of Electrical
and Computer Engineering,
London,
e-mail: atrejos@uwo.ca
and Computer Engineering,
Western University
,London,
ON N6A 5B9
, Canada
e-mail: atrejos@uwo.ca
Simon Perreault
Laval University Robotics Laboratory,
Department of Mechanical Engineering,
e-mail: simon.perreault.2@ulaval.ca
Department of Mechanical Engineering,
Laval University
,Quebec City, QC G1V 0A6
, Canada
e-mail: simon.perreault.2@ulaval.ca
Harmanpreet Bassan
Canadian Surgical Technologies
and Advanced Robotics,
London,
and Advanced Robotics,
Lawson Health Research Institute
,London,
ON N6A 5A5
, Canada;Department of Electrical
and Computer Engineering,
Western University,
London,
e-mail: hsbassan@alumni.uwo.ca
and Computer Engineering,
Western University,
London,
ON N6A 5B9
, Canada
e-mail: hsbassan@alumni.uwo.ca
Rajni V. Patel
Project Leader and Senior Author
Canadian Surgical Technologies
and Advanced Robotics,
Canadian Surgical Technologies
and Advanced Robotics,
Lawson Health Research Institute
,London, ON N6A 5A5
, Canada
;Department of Electrical
and Computer Engineering,
and Computer Engineering,
Western University
,London, ON N6A 5B9
, Canada
;
1Corresponding author.
Manuscript received August 25, 2013; final manuscript received February 17, 2014; published online xx xx, xxxx. Assoc. Editor: Venketesh Dubey.
J. Med. Devices. Dec 2014, 8(4): 041004 (15 pages)
Published Online: August 19, 2014
Article history
Received:
August 25, 2013
Revision Received:
February 17, 2014
Citation
Talasaz, A., Luisa Trejos, A., Perreault, S., Bassan, H., and Patel, R. V. (August 19, 2014). "A Dual-Arm 7-Degrees-of-Freedom Haptics-Enabled Teleoperation Test Bed for Minimally Invasive Surgery." ASME. J. Med. Devices. December 2014; 8(4): 041004. https://doi.org/10.1115/1.4026984
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