Abstract
It is difficult for MIS robot system to satisfy the knot tying force request of the surgery without force feedback. This results in suture breaking, organ damaging, and blood seeping. In this paper virtual force compensation for a new twisting knot tying method is presented. The author built a new finite elements model of the suture and defined the fitness degree of the suture loop. Based on the virtual force compensation system, force feedback in the surgery can be realized. The study enables us to conclude that the virtual force compensation is feasible and effective.
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Yue, L., Wang, S., Liu, C., Cao, Y., He, B. (2008). Virtual Force Compensation for MIS Robot. In: Xiong, C., Huang, Y., Xiong, Y., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2008. Lecture Notes in Computer Science(), vol 5314. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-88513-9_36
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DOI: https://doi.org/10.1007/978-3-540-88513-9_36
Publisher Name: Springer, Berlin, Heidelberg
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