Mapping Tactile Information of a Soft Manipulator to a Haptic Sleeve in RMIS
نویسندگان
چکیده
In Robot-assisted Minimally Invasive Surgery (RMIS), robotic tools enter the body through narrow openings and manipulate soft organs that can move, deform, or change in stiffness. The traditional robotic manipulation concepts that rely on fixed stiffness distributions, such as the da Vinci Robotic System, have limitations on these laparoscopic and robot-assisted surgical procedures due to restricted access through Trocar ports, lack of haptic feedback [1], and difficulties with rigid robot tools operating inside a confined space filled with organs [2]; the use of such systems can, in extreme cases, lead to harmful tissue tears [3-4]. Along the way, the solid structure of the laparoscopic instrument attached to the robotic arms and their external articulation make it problematic to change surgical targets inside the abdomen.
منابع مشابه
Haptic feedback in robot-assisted minimally invasive surgery.
PURPOSE OF REVIEW Robot-assisted minimally invasive surgery (RMIS) holds great promise for improving the accuracy and dexterity of a surgeon and minimizing trauma to the patient. However, widespread clinical success with RMIS has been marginal. It is hypothesized that the lack of haptic (force and tactile) feedback presented to the surgeon is a limiting factor. This review explains the technica...
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