HapticV1, PascalFrancis, Curation, bibRecord, 000786

A haptic interface for computer-integrated endoscopic surgery and training

Identifieur interne : 000786 ( PascalFrancis/Curation ); précédent : 000785; suivant : 000787

A haptic interface for computer-integrated endoscopic surgery and training

Auteurs : M. Tavakoli [Canada] ; R. V. Patel [Canada] ; M. Moallem [Canada]

Source :

Virtual reality : (Waltham Cross) [ 1359-4338 ] ; 2006.

RBID : Pascal:06-0282420

Descripteurs français

Pascal (Inist)
- Réalité virtuelle, Application médicale, Téléopération, Chirurgie endoscopique, Sensibilité tactile, Interface utilisateur, Robotique, Matrice Jacobi, Interface haptique, Relation maître esclave, Contrôle bilatéral.
Wicri :
- topic : Réalité virtuelle, Robotique.

English descriptors

KwdEn :
- Endoscopic surgery, Haptic interfaces, Jacobi matrix, Master slave relationship, Medical application, Remote operation, Robotics, Tactile sensitivity, User interface, Virtual reality.

Abstract

Haptic feedback has the potential to provide superior performance in computer-integrated surgery and training. This paper discusses the design of a user interface that is capable of providing force feedback in all the degrees of freedom (DOFs) available during endoscopic surgery. Using the Jacobian matrix of the haptic interface and its singular values, methods are proposed for analysis and optimization of the interface performance with regard to the accuracy of force feedback, the range of applicable forces, and the accuracy of control. The haptic user interface is used with a sensorized slave robot to form a master-slave test-bed for studying haptic interaction in a minimally invasive environment. Using the master-slave test-bed, teleoperation experiments involving a single degree of freedom surgical task (palpation) are conducted. Different bilateral control methods are compared based on the transparency of the master-slave system in terms of transmitting the critical task-related information to the user in the context of soft-tissue surgical applications.

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Pascal:06-0282420

Le document en format XML

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   |wiki=    Ticri/CIDE
   |area=    HapticV1
   |flux=    PascalFrancis
   |étape=   Curation
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   |clé=     Pascal:06-0282420
   |texte=   A haptic interface for computer-integrated endoscopic surgery and training
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A haptic interface for computer-integrated endoscopic surgery and training

A haptic interface for computer-integrated endoscopic surgery and training

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