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Prototyping a Hybrid Cooperative and Tele-robotic Surgical System for Retinal Microsurgery

Identifieur interne : 001845 ( Pmc/Corpus ); précédent : 001844; suivant : 001846

Prototyping a Hybrid Cooperative and Tele-robotic Surgical System for Retinal Microsurgery

Auteurs : Marcin Balicki ; Tian Xia ; Min Yang Jung ; Anton Deguet ; Balazs Vagvolgyi ; Peter Kazanzides ; Russell Taylor

Source :

RBID : PMC:3880681

Abstract

This paper presents the design of a tele-robotic microsurgical platform designed for development of cooperative and tele-operative control schemes, sensor based smart instruments, user interfaces and new surgical techniques with eye surgery as the driving application. The system is built using the distributed component-based cisst libraries and the Surgical Assistant Workstation framework. It includes a cooperatively controlled EyeRobot2, a da Vinci Master manipulator, and a remote stereo visualization system. We use constrained optimization based virtual fixture control to provide Virtual Remote-Center-of-Motion (vRCM) and haptic feedback. Such system can be used in a hybrid setup, combining local cooperative control with remote tele-operation, where an experienced surgeon can provide hand-over-hand tutoring to a novice user. In another scheme, the system can provide haptic feedback based on virtual fixtures constructed from real-time force and proximity sensor information.


Url:
PubMed: 24398557
PubMed Central: 3880681

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