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Updated: Jul 1, 2026
11:06
Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery
Published on: November 14, 2015
8.9K
Active constraint control for the surgical robotic platform with concentric connector joints
Samir Morad1, Christian Ulbricht2, Paul Harkin3
1The University of East London, University Way, London, E16 2RD, UK.
Medical Engineering & Physics
|October 20, 2024
Summary
This study introduces a haptic control system for robotic surgery, enhancing surgeon
Area of Science:
- Robotics
- Surgical Technology
- Control Systems
Background:
- Robotic minimally invasive surgery (MIS) has advanced surgical techniques.
- Haptic feedback in robotic systems aims to restore surgeon's sense of touch.
- Emulating robot-environment interaction precisely is a significant challenge.
Purpose of the Study:
- To develop a haptic control system for a surgical robot platform.
- To integrate an active constraint controller into the robotic system.
- To establish haptic feedback control using constraint control and inverse kinematics.
Main Methods:
- Development of a haptic control system.
- Integration of an active constraint controller into the surgical robot platform (SRP).
- Utilizing constraint control and inverse kinematic relationships for positioning.
Main Results:
- Successful establishment of haptic feedback control for the surgical robot.
- Demonstration of integrated constraint control and inverse kinematics.
- Preliminary feasibility study, modeling, and simulation completed.
Conclusions:
- The developed haptic control system shows feasibility for robotic surgery.
- Constraint control and inverse kinematics are effective for haptic feedback integration.
- This advancement enhances the surgeon's perception in robotic MIS.
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