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Predictive Force Feedback in a Teleoperated Robotic Surgical System

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thesis
posted on 31.07.2018 by TARAN LEONARD BATTY
A sacrificial relationship between teleoperator transparency and stability means that including force feedback into robotic surgical systems is particularly difficult. This research aims to close the gap between teleoperator transparency and stability. An environment estimation – force prediction methodology is developed which estimates the environments stiffness, damping, and non-linearity coefficients. These coefficients are then used to simulate a virtual environment, with which the haptic feedback device interacts. By creating a virtual environment localised to the haptic device, force feedback is generated via the haptic device’s own kinematics. As a result, both transparency and stability can simultaneously be improved.

History

Principal supervisor

Bijan Shirinzadeh

Year of Award

2018

Department, School or Centre

Mechanical and Aerospace Engineering

Course

Master of Engineering Science (Research)

Degree Type

MASTERS

Faculty

Faculty of Engineering

Exports

Exports