Sensorless Haptic Feedback in a Surgical Robot for Telesurgery
نویسندگان
چکیده
منابع مشابه
A Surgical Robot Teleoperation Framework for Providing Haptic Feedback Incorporating Virtual Environment-Based Guidance
In robot-assisted teleoperated laparoscopic surgeries, the patient side manipulators are controlled via the master manipulators, operated by the surgeon. The current generation of robots approved for laparoscopic surgery lack haptic feedback. In theory, haptic feedback could enhance the surgical procedures by providing a palpable sense of the environment as a function of surgeon’s hands movemen...
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In this paper, telesurgery and surgical simulation are introduced as parallel research problems of haptic interfacing to real and virtual surgical environments. The analytical tools of systems and control theory and robotics are used to address several research problems in these areas. The discussion on telesurgery is centered around the UC Berkeley/UC San Francisco Laparoscopic Telesurgical Wo...
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Teleoperated minimally invasive surgical robots can significantly enhance a surgeon's accuracy, dexterity and visualization. However, current commercially available systems do not include significant haptic (force and tactile) feedback to the operator. This paper describes experiments to characterize this problem, as well as several methods to provide haptic feedback in order to improve surgeon...
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In this paper, we present a novel cooperative navigation control for human-robot teams. Assuming that a human wants to reach a final location in a large environment with the help of a mobile robot, the robot must steer the human from the initial to the target position. The challenges posed by cooperative human-robot navigation are typically addressed by using haptic feedback via physical intera...
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Teleoperation systems have been developed in order to allow a human operator to perform complex tasks in remote environments. Mobile robots can be considered as a particular example of telemanipulation systems, since they can be operated remotely to perform particular tasks. As an example, the inspection of underwater structures and the removal of mines are performed by mobile platforms control...
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ژورنال
عنوان ژورنال: Journal of Medical Devices
سال: 2011
ISSN: 1932-6181,1932-619X
DOI: 10.1115/1.3590387