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Haptics For Teleoperated Surgical Robotic Systems

By: Mahdi Tavakoli,Rajni V Patel,Mehrdad Moallen,Arash Aziminejad

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Haptics For Teleoperated Surgical Robotic Systems

By: Mahdi Tavakoli,Rajni V Patel,Mehrdad Moallen,Arash Aziminejad

An important obstacle in Minimally Invasive Surgery (MIS) is the significant degradation of haptic feedback (sensation of touch) to the surgeon about surgical instrument's interaction with tissue. This monograph is concerned with devices and methods required for incorporating haptic feedback in master-slave robotic MIS systems. In terms of devices, novel mechanisms are designed including a surgical end-effector (slave) with full force sensing capabilities and a surgeon-robot interface (master) with full force feedback capabilities. Using the master-slave system, various haptic teleoperation control schemes are compared in terms of stability and performance, and passivity-based time delay compensation for haptic teleoperation over a long distance is investigated. The monograph also compares haptic feedback with visual feedback and with substitution for haptic feedback by other sensory cues in terms of surgical task performance.

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Page Count

179

Publisher

World Scientific

Published Date

ISBN 10

9814471275

ISBN 13

9789814471275

Haptics For Teleoperated Surgical Robotic Systems

By: Mahdi Tavakoli,Rajni V Patel,Mehrdad Moallen,Arash Aziminejad

Write a review Read reviews Take a Quiz Solve Book Puzzle

Haptics For Teleoperated Surgical Robotic Systems

By: Mahdi Tavakoli,Rajni V Patel,Mehrdad Moallen,Arash Aziminejad

An important obstacle in Minimally Invasive Surgery (MIS) is the significant degradation of haptic feedback (sensation of touch) to the surgeon about surgical instrument's interaction with tissue. This monograph is concerned with devices and methods required for incorporating haptic feedback in master-slave robotic MIS systems. In terms of devices, novel mechanisms are designed including a surgical end-effector (slave) with full force sensing capabilities and a surgeon-robot interface (master) with full force feedback capabilities. Using the master-slave system, various haptic teleoperation control schemes are compared in terms of stability and performance, and passivity-based time delay compensation for haptic teleoperation over a long distance is investigated. The monograph also compares haptic feedback with visual feedback and with substitution for haptic feedback by other sensory cues in terms of surgical task performance.

Average ratings

N/A

5

0%

4

0%

3

0%

2

0%

1

0%

Solve jigsaw puzzle

Age

Page Count

179

Publisher

World Scientific

Published Date

ISBN 10

9814471275

ISBN 13

9789814471275