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Xing-guang Duan
Beijing Institute of Technology

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Design and Implementation of Probe Driver Teleoperative Force Feedback System Amjad Ali Syed; Xing-guang Duan; Arbab Nighat Khizer; Mengli Mengli; Xiangzhan Kong; Qiang Huang
Indonesian Journal of Electrical Engineering and Computer Science Vol 12, No 6: June 2014
Publisher : Institute of Advanced Engineering and Science

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Abstract

The basic need of neurosurgery is to insert the probe into the key hole linearly for performing functional neurosurgery, trigeminal neuralgia surgery, biopsies, deep brain stimulation, and stereo-EEG. Recently, tele-robotic systems have been introduced to assist surgeon during invasive procedures to obtain desired results. In this paper, a linear probe driving tele-operative system with force feedback is proposed. The proposed system is highly accurate, stable, and safe and provides haptic transparency to the surgeon during its operation. The master slave architecture, control system and software application are designed to inject and eject probe driving trials. The experiments are performed on a piecewise linear Plasticine model. The accuracy, stability, repeatability of the system and haptic force feedback fidelity are discussed in the results.  DOI : http://dx.doi.org/10.11591/telkomnika.v12i6.5277
Tele-Robotic Assisted Dental Implant Surgery with Virtual Force Feedback Amjad Ali Syed; Amir Mahmood Soomro; Arbab Nighat Khizar; Xing-guang Duan; Huang Qiang; Farhan Manzoor
Indonesian Journal of Electrical Engineering and Computer Science Vol 12, No 1: January 2014
Publisher : Institute of Advanced Engineering and Science

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Abstract

The dental implant surgical applications full of risk because of the complex anatomical architecture of craio-maxillofacial area. Therefore, the surgeons move towards computer-aided planning for surgeries and then implementation using robotic assisted tele-operated techniques. This study divided into four main parts. The first part is developed by computer-aided surgical planning by image modalities .The second part is based on Virtual Surgical Environment through virtual force feedback haptic device. The third part is implemented the experimental surgery by integrating the prototype surgical manipulator with the haptic device poses using inverse kinematics method. The fourth part based on monitoring the robotic manipulator pose by using image guided navigation system to calculate the position error of the surgical manipulator. Thus, this tele-robotic system is able to comprehend the sense of complete practice, improve skills and gain experience of the surgeon during the surgery. Finally, the experimental outcomes show in satisfactory boundaries. DOI : http://dx.doi.org/10.11591/telkomnika.v12i1.3124
Co-Authors Amir Mahmood Soomro Amjad Ali Syed Arbab Nighat Khizar Arbab Nighat Khizer Farhan Manzoor Huang Qiang Mengli Mengli Qiang Huang Xiangzhan Kong