Experimental Use Validation of the Master Hybrid Haptic Device Dedicated to Remote Center-of-Motion Tasks
The main objective of this paper is to discuss the experimental validation of a tele-operation system for remote center-of-motion tasks, such as laparoscopic surgery. This validation is based on the use of an extra sensor placed on the master manipulator. The tele-operation system is composed of a n...
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-01-01
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| Series: | Machines |
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| Online Access: | https://www.mdpi.com/2075-1702/12/1/80 |
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| author | Majdi Meskini Amir Trabelsi Houssem Saafi Abdelfattah Mlika Marc Arsicault Juan Sandoval Saïd Zeghloul Med Amine Laribi |
| author_facet | Majdi Meskini Amir Trabelsi Houssem Saafi Abdelfattah Mlika Marc Arsicault Juan Sandoval Saïd Zeghloul Med Amine Laribi |
| author_sort | Majdi Meskini |
| collection | DOAJ |
| description | The main objective of this paper is to discuss the experimental validation of a tele-operation system for remote center-of-motion tasks, such as laparoscopic surgery. This validation is based on the use of an extra sensor placed on the master manipulator. The tele-operation system is composed of a new hybrid haptic device (nHH) intended to be used as a master manipulator controlling a collaborative robot, used as a slave surgical robot. The resolution of the forward kinematic model (FKM) of the master device is performed experimentally thanks to the use of an extra sensor. The IMU, as the extra sensor, is installed on the serial part of the nHH device to measure the orientation and is enabled to solve the FKM of the parallel part of the nHH device. The use of an extra sensor reduces the calculation time, improves the accuracy of the KFM, and makes it suitable for real-time applications. The preliminary validation of the force feedback in the nHH workspace is validated. Experiments were conducted on the master–slave platform to validate the proposed approach. The results are promising, which proves that the nHH device presents a suitable performance for the desired task. |
| first_indexed | 2024-03-08T10:43:44Z |
| format | Article |
| id | doaj.art-d37aea395256446a838ce99e98c23b66 |
| institution | Directory Open Access Journal |
| issn | 2075-1702 |
| language | English |
| last_indexed | 2024-03-08T10:43:44Z |
| publishDate | 2024-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj.art-d37aea395256446a838ce99e98c23b662024-01-26T17:25:02ZengMDPI AGMachines2075-17022024-01-011218010.3390/machines12010080Experimental Use Validation of the Master Hybrid Haptic Device Dedicated to Remote Center-of-Motion TasksMajdi Meskini0Amir Trabelsi1Houssem Saafi2Abdelfattah Mlika3Marc Arsicault4Juan Sandoval5Saïd Zeghloul6Med Amine Laribi7Mechanical Laboratory of Sousse (LMS), National Engineering School of Sousse, University of Sousse, Sousse 4000, TunisiaMechanical Laboratory of Sousse (LMS), National Engineering School of Sousse, University of Sousse, Sousse 4000, TunisiaMechanical Laboratory of Sousse (LMS), National Engineering School of Sousse, University of Sousse, Sousse 4000, TunisiaMechanical Laboratory of Sousse (LMS), National Engineering School of Sousse, University of Sousse, Sousse 4000, TunisiaDepartment of GMSC, Pprime Institute, University of Poitiers, CNRS, ISAE-ENSMA, UPR 3346, 86073 Poitiers, FranceNantes Université, École Centrale Nantes, CNRS, LS2N, UMR 6004, F-44000 Nantes, FranceDepartment of GMSC, Pprime Institute, University of Poitiers, CNRS, ISAE-ENSMA, UPR 3346, 86073 Poitiers, FranceDepartment of GMSC, Pprime Institute, University of Poitiers, CNRS, ISAE-ENSMA, UPR 3346, 86073 Poitiers, FranceThe main objective of this paper is to discuss the experimental validation of a tele-operation system for remote center-of-motion tasks, such as laparoscopic surgery. This validation is based on the use of an extra sensor placed on the master manipulator. The tele-operation system is composed of a new hybrid haptic device (nHH) intended to be used as a master manipulator controlling a collaborative robot, used as a slave surgical robot. The resolution of the forward kinematic model (FKM) of the master device is performed experimentally thanks to the use of an extra sensor. The IMU, as the extra sensor, is installed on the serial part of the nHH device to measure the orientation and is enabled to solve the FKM of the parallel part of the nHH device. The use of an extra sensor reduces the calculation time, improves the accuracy of the KFM, and makes it suitable for real-time applications. The preliminary validation of the force feedback in the nHH workspace is validated. Experiments were conducted on the master–slave platform to validate the proposed approach. The results are promising, which proves that the nHH device presents a suitable performance for the desired task.https://www.mdpi.com/2075-1702/12/1/80haptic devicesimulationslaparoscopic surgeryhybrid devicekinematic modelIMU |
| spellingShingle | Majdi Meskini Amir Trabelsi Houssem Saafi Abdelfattah Mlika Marc Arsicault Juan Sandoval Saïd Zeghloul Med Amine Laribi Experimental Use Validation of the Master Hybrid Haptic Device Dedicated to Remote Center-of-Motion Tasks Machines haptic device simulations laparoscopic surgery hybrid device kinematic model IMU |
| title | Experimental Use Validation of the Master Hybrid Haptic Device Dedicated to Remote Center-of-Motion Tasks |
| title_full | Experimental Use Validation of the Master Hybrid Haptic Device Dedicated to Remote Center-of-Motion Tasks |
| title_fullStr | Experimental Use Validation of the Master Hybrid Haptic Device Dedicated to Remote Center-of-Motion Tasks |
| title_full_unstemmed | Experimental Use Validation of the Master Hybrid Haptic Device Dedicated to Remote Center-of-Motion Tasks |
| title_short | Experimental Use Validation of the Master Hybrid Haptic Device Dedicated to Remote Center-of-Motion Tasks |
| title_sort | experimental use validation of the master hybrid haptic device dedicated to remote center of motion tasks |
| topic | haptic device simulations laparoscopic surgery hybrid device kinematic model IMU |
| url | https://www.mdpi.com/2075-1702/12/1/80 |
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