Abstract
This paper proposes a haptic palpation device for a NOTES surgery. A proposed device is consisted on a linear actuator and a flexible wire filled with liquid. A mechanical principle is based on an Electro-Hydraulic Transmission System(EHTS). The EHTS is transmitted to the position and force by using liquid energy. As one of the advantages of the EHTS, the transmission performance of the EHTS does not depend on the wire's posture. In this research, a scaling bilateral control is implemented to the EHTS based palpation probe. By this proposed device, an operator can feel a reaction force from the bio-tissue. The validity of a proposed device is confirmed by experiments.
| Original language | English |
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| Title of host publication | Proceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 93-98 |
| Number of pages | 6 |
| ISBN (Electronic) | 9781509045389 |
| DOIs | |
| Publication status | Published - 2017 May 6 |
| Event | 2017 IEEE International Conference on Mechatronics, ICM 2017 - Gippsland, Australia Duration: 2017 Feb 13 → 2017 Feb 15 |
Other
| Other | 2017 IEEE International Conference on Mechatronics, ICM 2017 |
|---|---|
| Country/Territory | Australia |
| City | Gippsland |
| Period | 17/2/13 → 17/2/15 |
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Mechanical Engineering
- Control and Optimization