Methods for haptic feedback in teleoperated robot-assisted surgery
Identifieur interne : 001709 ( Pmc/Curation ); précédent : 001708; suivant : 001710Methods for haptic feedback in teleoperated robot-assisted surgery
Auteurs : A. M. OkamuraSource :
- The Industrial robot [ 0143-991X ] ; 2004.
Abstract
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’s performance. There exist a variety of sensing and control methods that enable haptic feedback, although a number of practical considerations, e.g. cost, complexity and biocompatibility, present significant challenges. The ability of teleoperated robot-assisted surgical systems to measure and display haptic information leads to a number of additional exciting clinical and scientific opportunities, such as active operator assistance through “virtual fixtures” and the automatic acquisition of tissue properties.
Url:
DOI: 10.1108/01439910410566362
PubMed: 16429611
PubMed Central: 1317565
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<front><journal-meta><journal-id journal-id-type="nlm-journal-id">100971473</journal-id><journal-id journal-id-type="pubmed-jr-id">22626</journal-id><journal-id journal-id-type="nlm-ta">Ind Rob</journal-id><journal-title>The Industrial robot</journal-title><issn pub-type="ppub">0143-991X</issn></journal-meta><article-meta><article-id pub-id-type="pmid">16429611</article-id><article-id pub-id-type="pmc">1317565</article-id><article-id pub-id-type="doi">10.1108/01439910410566362</article-id><article-id pub-id-type="manuscript">NIHMS2116</article-id><article-categories><subj-group subj-group-type="heading"><subject>Article</subject></subj-group></article-categories><title-group><article-title>Methods for haptic feedback in teleoperated robot-assisted surgery</article-title></title-group><contrib-group><contrib contrib-type="author"><name><surname>Okamura</surname><given-names>A.M.</given-names></name></contrib></contrib-group><aff id="A1"><bold>A.M. Okamura</bold> is based in the Department of Mechanical Engineering, The Johns Hopkins University, Baltimore, Maryland, USA.</aff><author-notes><fn id="FN1"><p>Electronic access</p><p>The Emerald Research Register for this journal is available at <ext-link ext-link-type="uri" xlink:href="www.emeraldinsight.com/researchregister">www.emeraldinsight.com/researchregister</ext-link></p></fn><fn id="FN2"><p>The current issue and full text archive of this journal is available at <ext-link ext-link-type="uri" xlink:href="www.emeraldinsight.com/0143-991X.htm">www.emeraldinsight.com/0143-991X.htm</ext-link></p></fn></author-notes><pub-date pub-type="nihms-submitted"><day>4</day><month>5</month><year>2005</year></pub-date><pub-date pub-type="ppub"><month>12</month><year>2004</year></pub-date><pub-date pub-type="pmc-release"><day>20</day><month>12</month><year>2005</year></pub-date><volume>31</volume><issue>6</issue><fpage>499</fpage><lpage>508</lpage><abstract><p id="P1">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’s performance. There exist a variety of sensing and control methods that enable haptic feedback, although a number of practical considerations, e.g. cost, complexity and biocompatibility, present significant challenges. The ability of teleoperated robot-assisted surgical systems to measure and display haptic information leads to a number of additional exciting clinical and scientific opportunities, such as active operator assistance through “virtual fixtures” and the automatic acquisition of tissue properties.</p></abstract><kwd-group><kwd>Medical equipment</kwd><kwd>Robotics</kwd><kwd>Surgery</kwd></kwd-group><contract-num rid="EB1">R01 EB002004-02</contract-num><contract-sponsor id="EB1">National Institute of Biomedical Imaging and Bioengineering : NIBIB</contract-sponsor></article-meta></front></pmc></record>Pour manipuler ce document sous Unix (Dilib)
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