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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.
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| Colección: | New frontiers in robotics ;
v. 1. |
| Temas: | |
| Acceso en línea: | Texto completo |
Tabla de Contenidos:
- 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.