A Preliminary Study of Vibration Feedback for Robot-assisted Endovascular Surgery

Xinming Li1; Shuxiang Guo2,3

10.1109/ICMA57826.2023.10215886

2023

Proceedings of 2023 IEEE International Conference on Mechatronics and Automation

2152-7431

979-8-3503-2085-5

2023 IEEE International Conference on Mechatronics and Automation (ICMA)

445-449

6-9 Aug. 2023

Harbin, Heilongjiang, China

The study of haptic perception is significant and general for robot-assisted endovascular surgery. During actual surgical procedure, feedback information has advantages in monitoring the insertion process, providing direct instruction for surgeons, and improving operation safety. In this work, a new implementation of haptic perception named vibration feedback is concepted and proposed based on micro vibration motor. Related working principles and kinetic analysis of vibration feedback are descripted based on three kinds of vibration patterns. Two kinds of experiments are conducted to determine suitable parameters of duty cycle for vibration feedback and test the using performance in human model. Experimental results indicate that the proposed vibration feedback is feasible and helpful to offer a haptic perception. Moreover, benefiting from the micro size of vibration motor, this study also has potential value for some research fields like small wearable device, micro haptic feedback, multi-level feedback perception for robotic systems.

Vibration Feedback Robot-assisted Endovascular Surgery Haptic Perception Feedback Control

通讯

EI

20233714732748

Feedback ; Robotic surgery ; Surgical equipment

Medicine and Pharmacology:461.6 ; Biomedical Equipment, General:462.1 ; Control Systems:731.1 ; Robot Applications:731.6

IEEE

1.Graduate School of Engineering Kagawa University Hayashi-cho, Takamatsu, Japan
2.The Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, Guangdong, China
3.Beijing Institute of Technology

Xinming Li,Shuxiang Guo. A Preliminary Study of Vibration Feedback for Robot-assisted Endovascular Surgery[C],2023:445-449.