Experimental tissue parameter identification for use in endoscopic urological haptic simulators

Author

Dimopoulos, Athanasios ; Papadopoulos, Evangelos ; Iagnemma, Karl

Author_Institution

Dept. of Mech. Eng., Nat. Tech. Univ. of Athens, Athens, Greece

fYear

2009

fDate

24-26 June 2009

Firstpage

1131

Lastpage

1136

Abstract

A method is developed for obtaining parameters for tube-like soft-tissues, to be used in urological haptic simulators. A device was designed and built that allows the acquisition of forces and displacements during endoscope insertion in a tube-like soft tissue. The device consists of a mechatronic ball screw mechanism, with a 6 DOF force/ torque sensor attached to it. The steel shaft representing the endoscope, is commanded to follow desired trajectories with micrometric accuracy under the application of an IPD controller, implemented on a dSpace 1103 system. The experimental data acquired is fitted to polynomials to yield a tissue model that can be used to predict insertion forces required for haptic simulator feedback.

Keywords

biological tissues; endoscopes; medical control systems; parameter estimation; IPD controller; dSpace 1103 system; endoscope insertion; endoscopic urological haptic simulators; experimental tissue parameter identification; mechatronic ball screw mechanism; micrometric accuracy; tube-like soft tissues; Biological tissues; Endoscopes; Fasteners; Force sensors; Haptic interfaces; Mechatronics; Parameter estimation; Predictive models; Steel; Torque; Soft tissue modeling; endoscopic surgery simulation; haptic feedback; tissue identification;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Automation, 2009. MED '09. 17th Mediterranean Conference on

Conference_Location

Thessaloniki

Print_ISBN

978-1-4244-4684-1

Electronic_ISBN

978-1-4244-4685-8

Type

conf

DOI

10.1109/MED.2009.5164698

Filename

5164698