Prototyping a Hybrid Cooperative and Tele-robotic Surgical System for Retinal Microsurgery
Identifieur interne : 001845 ( Pmc/Curation ); précédent : 001844; suivant : 001846Prototyping 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 TaylorSource :
- MIDAS journal ; 2011.
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
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PubMed: 24398557
PubMed Central: 3880681
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<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">Prototyping a Hybrid Cooperative and Tele-robotic Surgical System for Retinal Microsurgery</title><author><name sortKey="Balicki, Marcin" sort="Balicki, Marcin" uniqKey="Balicki M" first="Marcin" last="Balicki">Marcin Balicki</name></author><author><name sortKey="Xia, Tian" sort="Xia, Tian" uniqKey="Xia T" first="Tian" last="Xia">Tian Xia</name></author><author><name sortKey="Jung, Min Yang" sort="Jung, Min Yang" uniqKey="Jung M" first="Min Yang" last="Jung">Min Yang Jung</name></author><author><name sortKey="Deguet, Anton" sort="Deguet, Anton" uniqKey="Deguet A" first="Anton" last="Deguet">Anton Deguet</name></author><author><name sortKey="Vagvolgyi, Balazs" sort="Vagvolgyi, Balazs" uniqKey="Vagvolgyi B" first="Balazs" last="Vagvolgyi">Balazs Vagvolgyi</name></author><author><name sortKey="Kazanzides, Peter" sort="Kazanzides, Peter" uniqKey="Kazanzides P" first="Peter" last="Kazanzides">Peter Kazanzides</name></author><author><name sortKey="Taylor, Russell" sort="Taylor, Russell" uniqKey="Taylor R" first="Russell" last="Taylor">Russell Taylor</name></author></titleStmt><publicationStmt><idno type="wicri:source">PMC</idno><idno type="pmid">24398557</idno><idno type="pmc">3880681</idno><idno type="url">http://www.ncbi.nlm.nih.gov/pmc/articles/PMC3880681</idno><idno type="RBID">PMC:3880681</idno><date when="2011">2011</date><idno type="wicri:Area/Pmc/Corpus">001845</idno><idno type="wicri:Area/Pmc/Curation">001845</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a" type="main">Prototyping a Hybrid Cooperative and Tele-robotic Surgical System for Retinal Microsurgery</title><author><name sortKey="Balicki, Marcin" sort="Balicki, Marcin" uniqKey="Balicki M" first="Marcin" last="Balicki">Marcin Balicki</name></author><author><name sortKey="Xia, Tian" sort="Xia, Tian" uniqKey="Xia T" first="Tian" last="Xia">Tian Xia</name></author><author><name sortKey="Jung, Min Yang" sort="Jung, Min Yang" uniqKey="Jung M" first="Min Yang" last="Jung">Min Yang Jung</name></author><author><name sortKey="Deguet, Anton" sort="Deguet, Anton" uniqKey="Deguet A" first="Anton" last="Deguet">Anton Deguet</name></author><author><name sortKey="Vagvolgyi, Balazs" sort="Vagvolgyi, Balazs" uniqKey="Vagvolgyi B" first="Balazs" last="Vagvolgyi">Balazs Vagvolgyi</name></author><author><name sortKey="Kazanzides, Peter" sort="Kazanzides, Peter" uniqKey="Kazanzides P" first="Peter" last="Kazanzides">Peter Kazanzides</name></author><author><name sortKey="Taylor, Russell" sort="Taylor, Russell" uniqKey="Taylor R" first="Russell" last="Taylor">Russell Taylor</name></author></analytic><series><title level="j">MIDAS journal</title><imprint><date when="2011">2011</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en"><p id="P1">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 <italic>cisst</italic> 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.</p></div></front></TEI><pmc article-type="research-article"><pmc-comment>The publisher of this article does not allow downloading of the full text in XML form.</pmc-comment>
<pmc-dir>properties manuscript</pmc-dir>
<front><journal-meta><journal-id journal-id-type="nlm-journal-id">101531429</journal-id><journal-id journal-id-type="pubmed-jr-id">37655</journal-id><journal-id journal-id-type="nlm-ta">Midas J</journal-id><journal-title-group><journal-title>MIDAS journal</journal-title></journal-title-group></journal-meta><article-meta><article-id pub-id-type="pmid">24398557</article-id><article-id pub-id-type="pmc">3880681</article-id><article-id pub-id-type="manuscript">NIHMS531710</article-id><article-categories><subj-group subj-group-type="heading"><subject>Article</subject></subj-group></article-categories><title-group><article-title>Prototyping a Hybrid Cooperative and Tele-robotic Surgical System for Retinal Microsurgery</article-title></title-group><contrib-group><contrib contrib-type="author"><name><surname>Balicki</surname><given-names>Marcin</given-names></name></contrib><contrib contrib-type="author"><name><surname>Xia</surname><given-names>Tian</given-names></name></contrib><contrib contrib-type="author"><name><surname>Jung</surname><given-names>Min Yang</given-names></name></contrib><contrib contrib-type="author"><name><surname>Deguet</surname><given-names>Anton</given-names></name></contrib><contrib contrib-type="author"><name><surname>Vagvolgyi</surname><given-names>Balazs</given-names></name></contrib><contrib contrib-type="author"><name><surname>Kazanzides</surname><given-names>Peter</given-names></name></contrib><contrib contrib-type="author"><name><surname>Taylor</surname><given-names>Russell</given-names></name></contrib><aff id="A1">Johns Hopkins University, 3400 N. Charles St. Baltimore, MD 21218 USA</aff></contrib-group><pub-date pub-type="nihms-submitted"><day>27</day><month>11</month><year>2013</year></pub-date><pub-date pub-type="epub"><month>12</month><year>2011</year></pub-date><pub-date pub-type="pmc-release"><day>05</day><month>1</month><year>2014</year></pub-date><volume>2011</volume><fpage>815</fpage><lpage></lpage><abstract><p id="P1">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 <italic>cisst</italic> 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.</p></abstract><funding-group><award-group><funding-source country="United States">National Institute of Biomedical Imaging and Bioengineering : NIBIB</funding-source><award-id>R01 EB007969 || EB</award-id></award-group></funding-group></article-meta></front></pmc></record>Pour manipuler ce document sous Unix (Dilib)
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