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Haptics for teleoperated surgical robotic systems /
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...
| Clasificación: | Libro Electrónico |
|---|---|
| Otros Autores: | |
| Formato: | Electrónico eBook |
| Idioma: | Inglés |
| Publicado: |
Hackensack, NJ :
World Scientific,
©2008.
|
| Colección: | New frontiers in robotics ;
v. 1. |
| Temas: | |
| Acceso en línea: | Texto completo |
MARC
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| 245 | 0 | 0 | |a Haptics for teleoperated surgical robotic systems / |c M. Tavakoli [and others]. |
| 260 | |a Hackensack, NJ : |b World Scientific, |c ©2008. | ||
| 300 | |a 1 online resource (xix, 158 pages) : |b illustrations. | ||
| 336 | |a text |b txt |2 rdacontent | ||
| 337 | |a computer |b c |2 rdamedia | ||
| 338 | |a online resource |b cr |2 rdacarrier | ||
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| 490 | 1 | |a New frontiers in robotics ; |v v. 1 | |
| 504 | |a Includes bibliographical references (pages 145-156) and index. | ||
| 588 | 0 | |a Print version record. | |
| 505 | 0 | |a 1. Introduction. 1.1. Robot-assisted intervention: benefits and applications. 1.2. Robotics technology for surgery and therapy. 1.3. Haptics for robotic surgery and therapy. 1.4. Technological challenges of the future -- 2. Sensorized surgical effector (slave). 2.1. Introduction. 2.2. Methods, materials and results. 2.3. Discussion. 2.4. Concluding remarks -- 3. Haptic user interface (master). 3.1. Introduction. 3.2. Haptic user interface architecture. 3.3. Analysis of the haptic interface. 3.4. Concluding remarks -- 4. Unilateral teleoperation control. 4.1. Introduction. 4.2. PHANToM inverse dynamics identification. 4.3. Adaptive inverse dynamics trajectory control of the PHANToM -- 5. Bilateral teleoperation control. 5.1. Introduction. 5.2. Stability and transparency in haptic teleoperation. 5.3. Haptic teleoperation experiments. 5.4. Concluding remarks -- 6. Substitution for haptic feedback. 6.1. Introduction. 6.2. Graphical substitution for haptic feedback. 6.3. Multi-modal contact cues. 6.4. Concluding remarks -- 7. Bilateral teleoperation control under time delay. 7.1. Introduction. 7.2. Passivity and absolute stability. 7.3. 2-channel architectures. 7.4. 4-channel architecture. 7.5. Experimental performance evaluation. 7.6. Concluding remarks. | |
| 520 | |a 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. | ||
| 590 | |a eBooks on EBSCOhost |b EBSCO eBook Subscription Academic Collection - Worldwide | ||
| 650 | 0 | |a Robotics in medicine. | |
| 650 | 0 | |a Touch. | |
| 650 | 2 | |a Touch | |
| 650 | 6 | |a Robotique en médecine. | |
| 650 | 6 | |a Toucher. | |
| 650 | 7 | |a touch. |2 aat | |
| 650 | 7 | |a MEDICAL |x Prosthesis. |2 bisacsh | |
| 650 | 7 | |a MEDICAL |x Surgery |x General. |2 bisacsh | |
| 650 | 7 | |a Robotics in medicine |2 fast | |
| 650 | 7 | |a Touch |2 fast | |
| 655 | 0 | |a Computer network resources. | |
| 655 | 4 | |a Computer network resources. | |
| 700 | 1 | |a Tavakoli, M. | |
| 776 | 0 | 8 | |i Print version: |t Haptics for teleoperated surgical robotic systems. |d Hackensack, NJ : World Scientific, ©2008 |w (DLC) 2008299495 |
| 830 | 0 | |a New frontiers in robotics ; |v v. 1. | |
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