TY - GEN
T1 - Design and analysis of a prototype haptic device for cardiovascular interventions
AU - Kilicarslan, Atilla
AU - Mohammadpour, Javad
AU - Grigoriadis, Karolos
AU - Tsekos, Nikolaos V.
PY - 2010
Y1 - 2010
N2 - In this paper, we present the details of the mechanical design for a haptic device intended to be used during minimally invasive cardiac surgeries. In addition, we develop the kinematics and dynamics equation of motion of the end effector of the device using the Euler-Lagrange equations. The viability of the design is demonstrated by integrating a virtual representation of the left ventricle to define unilateral constraints and finding a safe corridor for haptic guidance and control of the surgical robot.
AB - In this paper, we present the details of the mechanical design for a haptic device intended to be used during minimally invasive cardiac surgeries. In addition, we develop the kinematics and dynamics equation of motion of the end effector of the device using the Euler-Lagrange equations. The viability of the design is demonstrated by integrating a virtual representation of the left ventricle to define unilateral constraints and finding a safe corridor for haptic guidance and control of the surgical robot.
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U2 - 10.1109/ITAB.2010.5687659
DO - 10.1109/ITAB.2010.5687659
M3 - Conference contribution
AN - SCOPUS:79951602809
SN - 9781424465606
T3 - Proceedings of the IEEE/EMBS Region 8 International Conference on Information Technology Applications in Biomedicine, ITAB
BT - ITAB 2010 - 10th International Conference on Information Technology and Applications in Biomedicine
T2 - 10th International Conference on Information Technology and Applications in Biomedicine: Emerging Technologies for Patient Specific Healthcare, ITAB 2010
Y2 - 2 November 2010 through 5 November 2010
ER -