piezoelectric actuators are widely used in micro manipulation applications. however hysteresis nonlinearity limits accuracy of these actuators. this paper presents a novel approach utilizing a piezoelectric nano-stage as slave manipulator of a teleoperation system. the prandtl-ishlinskii (pi) model is used to model actuator hysteresis in feedforward scheme to cancel out this nonlinearity. a pas...

The use of haptic devices to provide force feedback in teleoperation has been shown to enhance performance. An experiment was conducted to examine whether artificial force feedback is utilized in the same manner as real force feedback in a simulated laparoscopic tissue-probing task. Forces in probing a double-layer silicon gel mass were replicated and exaggerated in a virtual environment using ...

In this paper, we proposed a novel master-slave robotic catheterization system with force feedback for VIS (Vascular Interventional Surgery). The force feedback to the operator on the master side is the key factor to improve the safety during VIS. The developed system used the MR (magneto rheological) fluid to realize force feedback, and it used the developed multidimensional monitoring interfa...

Two studies were conducted to determine the effects of enhanced auditory feedback on typing force, electromyography (EMG) and subjective discomfort. The introduction of enhanced auditory feedback caused a 10-20% reduction in 90th percentile typing force, finger flexor EMG, and finger extensor EMG. Adaptation to the enhanced auditory feedback occurred in <3 min. After 1 week of intermittent enha...

Minimally invasive surgery characterizes a sophisticated operation technique in which long instruments are inserted into the patient through small incisions. Though providing crucial benefits compared to open surgery (i.e. reduced tissue traumatization) it is also faced with a number of disadvantages. One of the major problems is that the surgeon cannot access the operating field directly and, ...