Haptic interaction in robot‐assisted endoscopic surgery: a sensorized end‐effector
Identifieur interne : 006437 ( Main/Exploration ); précédent : 006436; suivant : 006438Haptic interaction in robot‐assisted endoscopic surgery: a sensorized end‐effector
Auteurs : M. Tavakoli [Canada] ; R V Patel [Canada] ; M. Moallem [Canada]Source :
- The International Journal of Medical Robotics and Computer Assisted Surgery [ 1478-5951 ] ; 2005-01.
English descriptors
- KwdEn :
- Calibration, Clinical Competence, Endoscopes, Endoscopy (methods), Equipment Design, Feedback, Humans, Models, Theoretical, Psychomotor Performance, Robotics (instrumentation), Robotics (methods), Torque, Touch, endoscopic end‐effector, endoscopic surgery, force feedback, haptic perception, perceptual‐motor skills, robot‐assisted surgery.
- MESH :
- instrumentation : Robotics.
- methods : Endoscopy, Robotics.
- Calibration, Clinical Competence, Endoscopes, Equipment Design, Feedback, Humans, Models, Theoretical, Psychomotor Performance, Torque, Touch.
Abstract
Conventional endoscopic surgery has some drawbacks that can be addressed by using robots. The robotic systems used for surgery are still in their infancy. A major deficiency is the lack of haptic feedback to the surgeon. In this paper, the benefits of haptic feedback in robot‐assisted surgery are discussed. A novel robotic end‐effector is then described that meets the requirements of endoscopic surgery and is sensorized for force/ torque feedback. The endoscopic end‐effector is capable of non‐invasively measuring its interaction with tissue in all the degrees of freedom available during endoscopic manipulation. It is also capable of remotely actuating a tip and measuring its interaction with the environment without using any sensors on the jaws. The sensorized end‐effector can be used as the last arm of a surgical robot to incorporate haptic feedback and/or to evaluate skills and learning curves of residents and surgeons in endoscopic surgery. Copyright © 2005 Robotic Publications Ltd.
Url:
DOI: 10.1002/rcs.16
Affiliations:
Links toward previous steps (curation, corpus...)
- to stream Istex, to step Corpus: 003E58
- to stream Istex, to step Curation: 003E58
- to stream Istex, to step Checkpoint: 002093
- to stream PubMed, to step Corpus: 001634
- to stream PubMed, to step Curation: 001634
- to stream PubMed, to step Checkpoint: 001717
- to stream Ncbi, to step Merge: 000B61
- to stream Ncbi, to step Curation: 000B61
- to stream Ncbi, to step Checkpoint: 000B61
- to stream Main, to step Merge: 006777
- to stream Main, to step Curation: 006437
Le document en format XML
<record><TEI wicri:istexFullTextTei="biblStruct"><teiHeader><fileDesc><titleStmt><title xml:lang="en">Haptic interaction in robot‐assisted endoscopic surgery: a sensorized end‐effector</title><author><name sortKey="Tavakoli, M" sort="Tavakoli, M" uniqKey="Tavakoli M" first="M" last="Tavakoli">M. Tavakoli</name></author><author><name sortKey="Patel, R V" sort="Patel, R V" uniqKey="Patel R" first="R V" last="Patel">R V Patel</name></author><author><name sortKey="Moallem, M" sort="Moallem, M" uniqKey="Moallem M" first="M" last="Moallem">M. Moallem</name></author></titleStmt><publicationStmt><idno type="wicri:source">ISTEX</idno><idno type="RBID">ISTEX:6B3EF052264F85A872A587F248C1E37A526B84CC</idno><date when="2005" year="2005">2005</date><idno type="doi">10.1002/rcs.16</idno><idno type="url">https://api.istex.fr/document/6B3EF052264F85A872A587F248C1E37A526B84CC/fulltext/pdf</idno><idno type="wicri:Area/Istex/Corpus">003E58</idno><idno type="wicri:Area/Istex/Curation">003E58</idno><idno type="wicri:Area/Istex/Checkpoint">002093</idno><idno type="wicri:doubleKey">1478-5951:2005:Tavakoli M:haptic:interaction:in</idno><idno type="wicri:source">PubMed</idno><idno type="RBID">pubmed:17518379</idno><idno type="wicri:Area/PubMed/Corpus">001634</idno><idno type="wicri:Area/PubMed/Curation">001634</idno><idno type="wicri:Area/PubMed/Checkpoint">001717</idno><idno type="wicri:Area/Ncbi/Merge">000B61</idno><idno type="wicri:Area/Ncbi/Curation">000B61</idno><idno type="wicri:Area/Ncbi/Checkpoint">000B61</idno><idno type="wicri:Area/Main/Merge">006777</idno><idno type="wicri:Area/Main/Curation">006437</idno><idno type="wicri:Area/Main/Exploration">006437</idno></publicationStmt><sourceDesc><biblStruct><analytic><title level="a" type="main" xml:lang="en">Haptic interaction in robot‐assisted endoscopic surgery: a sensorized end‐effector</title><author><name sortKey="Tavakoli, M" sort="Tavakoli, M" uniqKey="Tavakoli M" first="M" last="Tavakoli">M. Tavakoli</name><affiliation wicri:level="1"><country xml:lang="fr">Canada</country><wicri:regionArea>Canadian Surgical Technologies & Advanced Robotics (CSTAR), London Health Sciences Centre, 339 Windermere Rd., London, Ontario, N6A 5A5, Canada and Department of Electrical and Computer Engineering, The University of Western Ontario, London, Ontario, N6A 5B9</wicri:regionArea><wicri:noRegion>N6A 5B9</wicri:noRegion></affiliation></author><author><name sortKey="Patel, R V" sort="Patel, R V" uniqKey="Patel R" first="R V" last="Patel">R V Patel</name><affiliation wicri:level="1"><country xml:lang="fr">Canada</country><wicri:regionArea>Canadian Surgical Technologies & Advanced Robotics (CSTAR), London Health Sciences Centre, 339 Windermere Rd., London, Ontario, N6A 5A5, Canada and Department of Electrical and Computer Engineering, The University of Western Ontario, London, Ontario, N6A 5B9</wicri:regionArea><wicri:noRegion>N6A 5B9</wicri:noRegion></affiliation></author><author><name sortKey="Moallem, M" sort="Moallem, M" uniqKey="Moallem M" first="M" last="Moallem">M. Moallem</name><affiliation wicri:level="1"><country xml:lang="fr">Canada</country><wicri:regionArea>Canadian Surgical Technologies & Advanced Robotics (CSTAR), London Health Sciences Centre, 339 Windermere Rd., London, Ontario, N6A 5A5, Canada and Department of Electrical and Computer Engineering, The University of Western Ontario, London, Ontario, N6A 5B9</wicri:regionArea><wicri:noRegion>N6A 5B9</wicri:noRegion></affiliation></author></analytic><monogr></monogr><series><title level="j">The International Journal of Medical Robotics and Computer Assisted Surgery</title><title level="j" type="abbrev">Int. J. Med. Robotics Comput. Assist. Surg.</title><idno type="ISSN">1478-5951</idno><idno type="eISSN">1478-596X</idno><imprint><publisher>John Wiley & Sons, Ltd.</publisher><pubPlace>Chichester, UK</pubPlace><date type="published" when="2005-01">2005-01</date><biblScope unit="volume">1</biblScope><biblScope unit="issue">2</biblScope><biblScope unit="page" from="53">53</biblScope><biblScope unit="page" to="63">63</biblScope></imprint><idno type="ISSN">1478-5951</idno></series><idno type="istex">6B3EF052264F85A872A587F248C1E37A526B84CC</idno><idno type="DOI">10.1002/rcs.16</idno><idno type="ArticleID">RCS16</idno></biblStruct></sourceDesc><seriesStmt><idno type="ISSN">1478-5951</idno></seriesStmt></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Calibration</term><term>Clinical Competence</term><term>Endoscopes</term><term>Endoscopy (methods)</term><term>Equipment Design</term><term>Feedback</term><term>Humans</term><term>Models, Theoretical</term><term>Psychomotor Performance</term><term>Robotics (instrumentation)</term><term>Robotics (methods)</term><term>Torque</term><term>Touch</term><term>endoscopic end‐effector</term><term>endoscopic surgery</term><term>force feedback</term><term>haptic perception</term><term>perceptual‐motor skills</term><term>robot‐assisted surgery</term></keywords><keywords scheme="MESH" qualifier="instrumentation" xml:lang="en"><term>Robotics</term></keywords><keywords scheme="MESH" qualifier="methods" xml:lang="en"><term>Endoscopy</term><term>Robotics</term></keywords><keywords scheme="MESH" xml:lang="en"><term>Calibration</term><term>Clinical Competence</term><term>Endoscopes</term><term>Equipment Design</term><term>Feedback</term><term>Humans</term><term>Models, Theoretical</term><term>Psychomotor Performance</term><term>Torque</term><term>Touch</term></keywords></textClass><langUsage><language ident="en">en</language></langUsage></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">Conventional endoscopic surgery has some drawbacks that can be addressed by using robots. The robotic systems used for surgery are still in their infancy. A major deficiency is the lack of haptic feedback to the surgeon. In this paper, the benefits of haptic feedback in robot‐assisted surgery are discussed. A novel robotic end‐effector is then described that meets the requirements of endoscopic surgery and is sensorized for force/ torque feedback. The endoscopic end‐effector is capable of non‐invasively measuring its interaction with tissue in all the degrees of freedom available during endoscopic manipulation. It is also capable of remotely actuating a tip and measuring its interaction with the environment without using any sensors on the jaws. The sensorized end‐effector can be used as the last arm of a surgical robot to incorporate haptic feedback and/or to evaluate skills and learning curves of residents and surgeons in endoscopic surgery. Copyright © 2005 Robotic Publications Ltd.</div></front></TEI><affiliations><list><country><li>Canada</li></country></list><tree><country name="Canada"><noRegion><name sortKey="Tavakoli, M" sort="Tavakoli, M" uniqKey="Tavakoli M" first="M" last="Tavakoli">M. Tavakoli</name></noRegion><name sortKey="Moallem, M" sort="Moallem, M" uniqKey="Moallem M" first="M" last="Moallem">M. Moallem</name><name sortKey="Patel, R V" sort="Patel, R V" uniqKey="Patel R" first="R V" last="Patel">R V Patel</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/Main/Exploration
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 006437 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/Main/Exploration/biblio.hfd -nk 006437 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien
|wiki= Ticri/CIDE
|area= HapticV1
|flux= Main
|étape= Exploration
|type= RBID
|clé= ISTEX:6B3EF052264F85A872A587F248C1E37A526B84CC
|texte= Haptic interaction in robot‐assisted endoscopic surgery: a sensorized end‐effector
}}
| This area was generated with Dilib version V0.6.23. |  |