Haptic interaction in robot-assisted endoscopic surgery: a sensorized end-effector.
Identifieur interne : 001634 ( PubMed/Corpus ); précédent : 001633; suivant : 001635Haptic interaction in robot-assisted endoscopic surgery: a sensorized end-effector.
Auteurs : M. Tavakoli ; R V Patel ; M. MoallemSource :
- The international journal of medical robotics + computer assisted surgery : MRCAS [ 1478-596X ] ; 2005.
English descriptors
- KwdEn :
- 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.
DOI: 10.1002/rcs.16
PubMed: 17518379
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pubmed:17518379Le document en format XML
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Moallem</name></author></titleStmt><publicationStmt><idno type="wicri:source">PubMed</idno><date when="2005">2005</date><idno type="doi">10.1002/rcs.16</idno><idno type="RBID">pubmed:17518379</idno><idno type="pmid">17518379</idno><idno type="wicri:Area/PubMed/Corpus">001634</idno></publicationStmt><sourceDesc><biblStruct><analytic><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><affiliation><nlm:affiliation>Canadian Surgical Technologies & Advanced Robotics (CSTAR), London Health Sciences Centre, 339 Windermere Rd., London, Ontario, N6A 5A5, Canada.</nlm:affiliation></affiliation></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></analytic><series><title level="j">The international journal of medical robotics + computer assisted surgery : MRCAS</title><idno type="eISSN">1478-596X</idno><imprint><date when="2005" type="published">2005</date></imprint></series></biblStruct></sourceDesc></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></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></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.</div></front></TEI><pubmed><MedlineCitation Owner="NLM" Status="MEDLINE"><PMID Version="1">17518379</PMID><DateCreated><Year>2007</Year><Month>05</Month><Day>23</Day></DateCreated><DateCompleted><Year>2007</Year><Month>06</Month><Day>12</Day></DateCompleted><Article PubModel="Print"><Journal><ISSN IssnType="Electronic">1478-596X</ISSN><JournalIssue CitedMedium="Internet"><Volume>1</Volume><Issue>2</Issue><PubDate><Year>2005</Year><Month>Jan</Month></PubDate></JournalIssue><Title>The international journal of medical robotics + computer assisted surgery : MRCAS</Title><ISOAbbreviation>Int J Med Robot</ISOAbbreviation></Journal><ArticleTitle>Haptic interaction in robot-assisted endoscopic surgery: a sensorized end-effector.</ArticleTitle><Pagination><MedlinePgn>53-63</MedlinePgn></Pagination><Abstract><AbstractText>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.</AbstractText><CopyrightInformation>Copyright 2005 Robotic Publications Ltd.</CopyrightInformation></Abstract><AuthorList CompleteYN="Y"><Author ValidYN="Y"><LastName>Tavakoli</LastName><ForeName>M</ForeName><Initials>M</Initials><AffiliationInfo><Affiliation>Canadian Surgical Technologies & Advanced Robotics (CSTAR), London Health Sciences Centre, 339 Windermere Rd., London, Ontario, N6A 5A5, Canada.</Affiliation></AffiliationInfo></Author><Author ValidYN="Y"><LastName>Patel</LastName><ForeName>R V</ForeName><Initials>RV</Initials></Author><Author ValidYN="Y"><LastName>Moallem</LastName><ForeName>M</ForeName><Initials>M</Initials></Author></AuthorList><Language>eng</Language><PublicationTypeList><PublicationType UI="D016428">Journal Article</PublicationType><PublicationType UI="D013485">Research Support, Non-U.S. Gov't</PublicationType><PublicationType UI="D016454">Review</PublicationType></PublicationTypeList></Article><MedlineJournalInfo><Country>England</Country><MedlineTA>Int J Med Robot</MedlineTA><NlmUniqueID>101250764</NlmUniqueID><ISSNLinking>1478-5951</ISSNLinking></MedlineJournalInfo><CitationSubset>IM</CitationSubset><MeshHeadingList><MeshHeading><DescriptorName MajorTopicYN="N" UI="D002138">Calibration</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D002983">Clinical Competence</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D019723">Endoscopes</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D004724">Endoscopy</DescriptorName><QualifierName MajorTopicYN="Y" UI="Q000379">methods</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D004867">Equipment Design</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="Y" UI="D005246">Feedback</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D006801">Humans</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D008962">Models, Theoretical</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D011597">Psychomotor Performance</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D012371">Robotics</DescriptorName><QualifierName MajorTopicYN="N" UI="Q000295">instrumentation</QualifierName><QualifierName MajorTopicYN="Y" UI="Q000379">methods</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D019415">Torque</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="Y" UI="D014110">Touch</DescriptorName></MeshHeading></MeshHeadingList><NumberOfReferences>39</NumberOfReferences></MedlineCitation><PubmedData><History><PubMedPubDate PubStatus="pubmed"><Year>2007</Year><Month>5</Month><Day>24</Day><Hour>9</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="medline"><Year>2007</Year><Month>6</Month><Day>15</Day><Hour>9</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="entrez"><Year>2007</Year><Month>5</Month><Day>24</Day><Hour>9</Hour><Minute>0</Minute></PubMedPubDate></History><PublicationStatus>ppublish</PublicationStatus><ArticleIdList><ArticleId IdType="doi">10.1002/rcs.16</ArticleId><ArticleId IdType="pubmed">17518379</ArticleId></ArticleIdList></PubmedData></pubmed></record>Pour manipuler ce document sous Unix (Dilib)
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