Haptics For Teleoperated Surgical Robotic Systems
Author:   Mahdi Tavakoli (Univ Of Alberta, Canada) ,  Rajni V Patel (Univ Of Western Ontario, Canada) ,  Mehrdad Moallen (Simon Fraser Univ Surrey, Canada) ,  Arash Aziminejad (Univ Of Western Ontario, Canada)
Publisher:   World Scientific Publishing Co Pte Ltd
Volume:   1
ISBN:  

9789812813152


Pages:   180
Publication Date:   15 April 2008
Format:   Hardback
Availability:   Awaiting stock   Availability explained
The supplier is currently out of stock of this item. It will be ordered for you and placed on backorder. Once it does come back in stock, we will ship it out for you.

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Haptics For Teleoperated Surgical Robotic Systems


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Overview

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.

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Author:   Mahdi Tavakoli (Univ Of Alberta, Canada) ,  Rajni V Patel (Univ Of Western Ontario, Canada) ,  Mehrdad Moallen (Simon Fraser Univ Surrey, Canada) ,  Arash Aziminejad (Univ Of Western Ontario, Canada)
Publisher:   World Scientific Publishing Co Pte Ltd
Imprint:   World Scientific Publishing Co Pte Ltd
Volume:   1
Dimensions:   Width: 15.30cm , Height: 1.80cm , Length: 23.50cm
Weight:   0.467kg
ISBN:  

9789812813152


ISBN 10:   9812813152
Pages:   180
Publication Date:   15 April 2008
Audience:   College/higher education ,  Postgraduate, Research & Scholarly
Format:   Hardback
Publisher's Status:   Active
Availability:   Awaiting stock   Availability explained
The supplier is currently out of stock of this item. It will be ordered for you and placed on backorder. Once it does come back in stock, we will ship it out for you.

Table of Contents

Introduction to Robot-Assisted Intervention; Sensorized Surgical Effector (Slave): Methods, Materials, and Results; Haptic User Interface (Master); Architecture and Analysis, Unilateral Teleoperation Control; Bilateral Teleoperation Control; Substitution for Haptic Feedback: Graphical Cues and Performance Comparison; Bilateral Teleoperation Control under Time Delay.

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