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The continuing emergence of computer haptics for training, industrial and entertainment applications has increased the need for cheaper, safer and smaller tactile display solutions. Today most force-feedback interfaces [8, 9, 10, 13, 14] come in the form of small robot manipulators: these systems use electrical motors to generate forces and joint sensors to measure spatial position. The main...
This paper presents the design and control of the sigma.7 haptic device and the new surgical console of the MiroSurge robotic system. The console and the haptic devices are designed with respect to requirements in minimally invasive robotic surgery. Dedicated left and right handed devices are integrated in an operator console in an ergonomic configuration. The height of the whole console is adjustable,...
This paper presents the design and control of the sigma.7 haptic device and the new surgical console of the MiroSurge robotic system. The console and the haptic devices are designed with respect to requirements in minimally invasive robotic surgery. Dedicated left and right handed devices are integrated in an operator console in an ergonomic configuration. The height of the whole console is adjustable,...
A method for 6-DOF haptic rendering of isosurface geometry embedded within sampled volume data is presented. The algorithm uses a quasi-static formulation of motion constrained by multiple contacts to simulate rigid-body interaction between a haptically controlled virtual tool (proxy), represented as a point-sampled surface, and volumetric isosurfaces. Unmodified volume data, such as computed tomography...
This paper presents a new actuation approach which combines the use of brakes, springs and mini motors to produce a safer and more energy efficient way to drive haptic devices. The applications which can greatly benefit from this new technology include force-feedback interfaces which operate medical robots, an area where safety and reliability are of prime concerns, and small portable devices which...
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