A Flexible Endoscopic Sensing Module for Force Haptic Feedback Integration

Hamid Naghibi; Willem B. Hoitzing; Stefano Stramigioli; Momen Abayazid

doi:10.1109/CIBEC.2018.8641817

A Flexible Endoscopic Sensing Module for Force Haptic Feedback Integration

Hamid Naghibi
, Willem B. Hoitzing
, Stefano Stramigioli
, Momen Abayazid

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

4 Scopus citations

Abstract

Proper haptic feedback is a key aspect to the safety of a teleoperated endoscopic surgical robotics system. In this study we developed a flexible sensing module to measure the directional force, and a haptic control of a soft robotic endoscopic segment. The force amplitude and direction detection was based on the voltage changes in four strain gauges positioned at four quarters of a flexible cylinder. The flexible structure of the cylinder allowed for large deformation which can reduce the risk of tissue damage at interfaces. Inverse finite element analysis and finite element simulations were implemented to further improve and verify the developed system. The system including the haptic feedback controller could enhance operator navigation.

Original language	English
Title of host publication	2018 9th Cairo International Biomedical Engineering Conference, CIBEC 2018 - Proceedings
Editors	Ayman Eldeib, Tamer Basha, Inas Yassine
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	158-161
Number of pages	4
ISBN (Electronic)	9781538681541
DOIs	https://doi.org/10.1109/CIBEC.2018.8641817
State	Published - 2 Jul 2018
Externally published	Yes
Event	9th Cairo International Biomedical Engineering Conference, CIBEC 2018 - Cairo, Egypt Duration: 20 Dec 2018 → 22 Dec 2018

Publication series

Name	2018 9th Cairo International Biomedical Engineering Conference, CIBEC 2018 - Proceedings

Conference

Conference	9th Cairo International Biomedical Engineering Conference, CIBEC 2018
Country/Territory	Egypt
City	Cairo
Period	20/12/18 → 22/12/18

Bibliographical note

Publisher Copyright:
© 2018 IEEE.

Keywords

Endoscope
Finite Element Analysis
Force sensing
Haptic Feedback
Soft Robotics

ASJC Scopus subject areas

Safety, Risk, Reliability and Quality
Computer Science Applications
Computer Vision and Pattern Recognition
Biomedical Engineering

Access to Document

10.1109/CIBEC.2018.8641817

Cite this

Naghibi, H., Hoitzing, W. B., Stramigioli, S., & Abayazid, M. (2018). A Flexible Endoscopic Sensing Module for Force Haptic Feedback Integration. In A. Eldeib, T. Basha, & I. Yassine (Eds.), 2018 9th Cairo International Biomedical Engineering Conference, CIBEC 2018 - Proceedings (pp. 158-161). Article 8641817 (2018 9th Cairo International Biomedical Engineering Conference, CIBEC 2018 - Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CIBEC.2018.8641817

Naghibi, Hamid ; Hoitzing, Willem B. ; Stramigioli, Stefano et al. / A Flexible Endoscopic Sensing Module for Force Haptic Feedback Integration. 2018 9th Cairo International Biomedical Engineering Conference, CIBEC 2018 - Proceedings. editor / Ayman Eldeib ; Tamer Basha ; Inas Yassine. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 158-161 (2018 9th Cairo International Biomedical Engineering Conference, CIBEC 2018 - Proceedings).

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abstract = "Proper haptic feedback is a key aspect to the safety of a teleoperated endoscopic surgical robotics system. In this study we developed a flexible sensing module to measure the directional force, and a haptic control of a soft robotic endoscopic segment. The force amplitude and direction detection was based on the voltage changes in four strain gauges positioned at four quarters of a flexible cylinder. The flexible structure of the cylinder allowed for large deformation which can reduce the risk of tissue damage at interfaces. Inverse finite element analysis and finite element simulations were implemented to further improve and verify the developed system. The system including the haptic feedback controller could enhance operator navigation.",

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note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 9th Cairo International Biomedical Engineering Conference, CIBEC 2018 ; Conference date: 20-12-2018 Through 22-12-2018",

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Naghibi, H, Hoitzing, WB, Stramigioli, S & Abayazid, M 2018, A Flexible Endoscopic Sensing Module for Force Haptic Feedback Integration. in A Eldeib, T Basha & I Yassine (eds), 2018 9th Cairo International Biomedical Engineering Conference, CIBEC 2018 - Proceedings., 8641817, 2018 9th Cairo International Biomedical Engineering Conference, CIBEC 2018 - Proceedings, Institute of Electrical and Electronics Engineers Inc., pp. 158-161, 9th Cairo International Biomedical Engineering Conference, CIBEC 2018, Cairo, Egypt, 20/12/18. https://doi.org/10.1109/CIBEC.2018.8641817

A Flexible Endoscopic Sensing Module for Force Haptic Feedback Integration. / Naghibi, Hamid; Hoitzing, Willem B.; Stramigioli, Stefano et al.
2018 9th Cairo International Biomedical Engineering Conference, CIBEC 2018 - Proceedings. ed. / Ayman Eldeib; Tamer Basha; Inas Yassine. Institute of Electrical and Electronics Engineers Inc., 2018. p. 158-161 8641817 (2018 9th Cairo International Biomedical Engineering Conference, CIBEC 2018 - Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - Proper haptic feedback is a key aspect to the safety of a teleoperated endoscopic surgical robotics system. In this study we developed a flexible sensing module to measure the directional force, and a haptic control of a soft robotic endoscopic segment. The force amplitude and direction detection was based on the voltage changes in four strain gauges positioned at four quarters of a flexible cylinder. The flexible structure of the cylinder allowed for large deformation which can reduce the risk of tissue damage at interfaces. Inverse finite element analysis and finite element simulations were implemented to further improve and verify the developed system. The system including the haptic feedback controller could enhance operator navigation.

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Naghibi H, Hoitzing WB, Stramigioli S, Abayazid M. A Flexible Endoscopic Sensing Module for Force Haptic Feedback Integration. In Eldeib A, Basha T, Yassine I, editors, 2018 9th Cairo International Biomedical Engineering Conference, CIBEC 2018 - Proceedings. Institute of Electrical and Electronics Engineers Inc. 2018. p. 158-161. 8641817. (2018 9th Cairo International Biomedical Engineering Conference, CIBEC 2018 - Proceedings). doi: 10.1109/CIBEC.2018.8641817

A Flexible Endoscopic Sensing Module for Force Haptic Feedback Integration

Abstract

Publication series

Conference

Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

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Cite this