Design and analysis of a prototype haptic device for cardiovascular interventions

Author

Kilicarslan, Atilla ; Mohammadpour, Javad ; Grigoriadis, Karolos ; Tsekos, Nikolaos V.

Author_Institution

Dept. of Mech. Eng., Univ. of Houston, Houston, TX, USA

fYear

2010

fDate

3-5 Nov. 2010

Firstpage

1

Lastpage

5

Abstract

In this paper, we present the details of the mechanical design for a haptic device intended to be used during minimally invasive cardiac surgeries. In addition, we develop the kinematics and dynamics equation of motion of the end effector of the device using the Euler-Lagrange equations. The viability of the design is demonstrated by integrating a virtual representation of the left ventricle to define unilateral constraints and finding a safe corridor for haptic guidance and control of the surgical robot.

Keywords

cardiovascular system; medical robotics; surgery; tactile sensors; virtual instrumentation; Euler-Lagrange equation; cardiovascular interventions; dynamic motion equation; kinematics; left ventricle; mechanical design; minimally invasive cardiac surgery; prototype haptic device; surgical robot control; virtual representation; Biomedical imaging; DC motors; Electronic publishing; Information services; Internet; Surges; Wire;

fLanguage

English

Publisher

ieee

Conference_Titel

Information Technology and Applications in Biomedicine (ITAB), 2010 10th IEEE International Conference on

Conference_Location

Corfu

Print_ISBN

978-1-4244-6559-0

Type

conf

DOI

10.1109/ITAB.2010.5687659

Filename

5687659