[robotics-worldwide] New Book in Robotics: HAPTICS FOR TELEOPERATED SURGICAL ROBOTIC SYSTEMS

Xie Ming (Assoc Prof) mmxie at ntu.edu.sg
Wed Mar 11 17:52:19 PDT 2009


New Frontiers in Robotics - Vol. 1

 

HAPTICS FOR TELEOPERATED SURGICAL ROBOTIC SYSTEMS

 

by 

 

M Tavakoli (Harvard University, USA),

R V Patel (University of Western Ontario, Canada), 

M Moallem (Simon Fraser University, Canada) & 

A Aziminejad 

(University of Western Ontario, Canada)

 

 

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.

 

Contents:

Introduction; 

Sensorized Surgical Effector (Slave);

 Haptic User Interface (Master); 

Unilateral Teleoperation Control;

 Bilateral Teleoperation Control; 

Substitution for Haptic Feedback:  Bilateral Teleoperation Control Under
Time Delay.

 

Readership: 

Researchers in robotics, teleoperation, haptics, virtual reality, sensor
technology, human machine interaction, 

and minimally invasive surgery and therapy.

 

Key Features:

The first book dedicated to the incorporation of haptic interaction in
robot-assisted minimally 

invasive surgery. Design of novel mechanisms such as a fully sensorized
laparoscopic instrument and 

a fully force-reflective surgeon-robot interface. Design of control
algorithms for stable and high-fidelity 

haptic teleoperation including long-distance teleoperation, which has
potential applications in telesurgery

 



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