Haptics for Teleoperated Surgical Robotic Systems

Haptics for Teleoperated Surgical Robotic Systems

eBook - 2008
Rate this:
An important obstacle in Minimally Invasive Surgery (MIS) is the significant degradation of haptic feedback (sensation of touch) to the surgeon about surgical instrument's interaction with tissue. This monograph is concerned with devices and methods required for incorporating haptic feedback in master-slave robotic MIS systems. In terms of devices, novel mechanisms are designed including a surgical end-effector (slave) with full force sensing capabilities and a surgeon-robot interface (master) with full force feedback capabilities. Using the master-slave system, various haptic teleoperation control schemes are compared in terms of stability and performance, and passivity-based time delay compensation for haptic teleoperation over a long distance is investigated. The monograph also compares haptic feedback with visual feedback and with substitution for haptic feedback by other sensory cues in terms of surgical task performance. Sample Chapter(s). Introduction (1,826 KB). Contents: Introduction; Sensorized Surgical Effector (Slave); Haptic User Interface (Master); Unilateral Teleoperation Control; Bilateral Teleoperation Control; Substitution for Haptic Feedback: Bilateral Teleoperation Control Under Time Delay. Readership: Researchers in robotics, teleoperation, haptics, virtual reality, sensor technology, human machine interaction, and minimally invasive surgery and therapy.
Publisher: River Edge : World Scientific Publishing Company, 2008
Copyright Date: ©2008
ISBN: 9789812813169
Branch Call Number: Electronic book
Characteristics: 1 online resource (180 pages)


From the critics

Community Activity


Add a Comment

There are no comments for this title yet.


Add Age Suitability

There are no ages for this title yet.


Add a Summary

There are no summaries for this title yet.


Add Notices

There are no notices for this title yet.


Add a Quote

There are no quotes for this title yet.

Explore Further


Subject Headings


Find it at MCL

To Top