LEADER 05423nam 2200673Ia 450 001 9910782268403321 005 20230721032723.0 010 $a1-281-96094-2 010 $a9786611960940 010 $a981-281-316-0 035 $a(CKB)1000000000538210 035 $a(EBL)1679405 035 $a(OCoLC)879023528 035 $a(SSID)ssj0000168837 035 $a(PQKBManifestationID)11153719 035 $a(PQKBTitleCode)TC0000168837 035 $a(PQKBWorkID)10203960 035 $a(PQKB)10388198 035 $a(MiAaPQ)EBC1679405 035 $a(WSP)00001985 035 $a(Au-PeEL)EBL1679405 035 $a(CaPaEBR)ebr10255927 035 $a(CaONFJC)MIL196094 035 $a(EXLCZ)991000000000538210 100 $a20080418d2008 uy 0 101 0 $aeng 135 $aur|n|---||||| 181 $ctxt 182 $cc 183 $acr 200 00$aHaptics for teleoperated surgical robotic systems$b[electronic resource] /$fM. Tavakoli ... [et al.] 210 $aHackensack, NJ $cWorld Scientific$dc2008 215 $a1 online resource (180 p.) 225 1 $aNew frontiers in robotics ;$vv. 1 300 $aDescription based upon print version of record. 311 $a981-281-315-2 320 $aIncludes bibliographical references (p. 145-156) and index. 327 $aContents; Preface; List of Figures; List of Tables; 1. Introduction; 1.1 Robot-Assisted Intervention: Bene ts and Applications; 1.2 Robotics Technology for Surgery and Therapy; 1.2.1 Augmenting devices and systems; 1.2.1.1 Hand-held tools; 1.2.1.2 Cooperatively-controlled tools; 1.2.1.3 Teleoperated tools; 1.2.1.4 Autonomous tools; 1.2.2 Supporting devices and systems; 1.2.2.1 Positioning/stabilization purposes; 1.2.2.2 Increasing device dexterity or autonomy; 1.3 Haptics for Robotic Surgery and Therapy; 1.3.1 Haptic user interface technology; 1.3.1.1 PHANToM; 1.3.1.2 Freedom-6S 327 $a1.3.1.3 Laparoscopic Impulse Engine and Surgical Workstation1.3.1.4 Xitact IHP; 1.3.2 Haptic surgical teleoperation; 1.4 Technological Challenges of the Future; 2. Sensorized Surgical Effector (Slave); 2.1 Introduction; 2.1.1 Limitations of endoscopic surgery; 2.1.2 The need for robot-assisted surgery; 2.1.3 Signi cance of haptic perception in master-slave operation; 2.1.4 Perceptual-motor skills study; 2.2 Methods, Materials and Results; 2.2.1 Force reection methods; 2.2.2 Design requirements; 2.2.3 Twist and tip motions; 2.2.4 Interaction measurement; 2.3 Discussion; 2.4 Concluding Remarks 327 $a3. Haptic User Interface (Master)3.1 Introduction; 3.1.1 Computer-assisted endoscopic surgery training; 3.1.1.1 Haptic perception in computer-assisted surgical training; 3.2 Haptic User Interface Architecture; 3.2.1 Force reflection in pitch, yaw and insertion; 3.2.2 Force reflection in roll and gripping; 3.3 Analysis of the Haptic Interface; 3.3.1 Sensitivity; 3.3.2 Workspace; 3.3.2.1 Optimization for control accuracy; 3.3.3 Force reection capability; 3.4 Concluding Remarks; 4. Unilateral Teleoperation Control; 4.1 Introduction; 4.1.1 Direct inverse dynamics control 327 $a4.1.2 Feedback error learning control4.2 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; 5.2.1 2-channel architectures; 5.2.1.1 Position Error Based (PEB); 5.2.1.2 Direct Force Reection (DFR); 5.2.2 4-channel architecture; 5.2.2.1 Scattering theory and absolute stability; 5.2.2.2 Stability and performance robustness; 5.2.2.3 3-channel case; 5.3 Haptic Teleoperation Experiments; 5.3.1 Experimental setup 327 $a5.3.2 Master-slave communication5.3.3 Observation of hand forces; 5.3.4 Observer and controller gains; 5.3.5 Soft-tissue palpation tests; 5.4 Concluding Remarks; 6. Substitution for Haptic Feedback; 6.1 Introduction; 6.2 Graphical Substitution for Haptic Feedback; 6.2.1 Case study: Lump localization task; 6.2.1.1 Experiment design; 6.2.1.2 Results; 6.2.1.3 Discussion; 6.3 Multi-Modal Contact Cues; 6.3.1 Case study: Tissue stiffness discrimination Task; 6.3.1.1 Experiment Design; 6.3.1.2 Results; 6.3.1.3 Discussion; 6.4 Concluding Remarks; 7. Bilateral Teleoperation Control Under Time Delay 327 $a7.1 Introduction 330 $a An important obstacle in Minimally Invasive Surgery (MIS) is the significant degradation of haptic feedback (sensation of touch) to the surgeon about surgical instrument's interaction with tissue. This monograph is concerned with devices and methods required for incorporating haptic feedback in master-slave robotic MIS systems. In terms of devices, novel mechanisms are designed including a surgical end-effector (slave) with full force sensing capabilities and a surgeon-robot interface (master) with full force feedback capabilities. Using the master-slave system, various haptic teleoperation c 410 0$aNew frontiers in robotics ;$vv. 1. 606 $aRobotics in medicine 606 $aTouch 615 0$aRobotics in medicine. 615 0$aTouch. 676 $a610.284 676 $a617.00284 701 $aTavakoli$b M$01469518 801 0$bMiAaPQ 801 1$bMiAaPQ 801 2$bMiAaPQ 906 $aBOOK 912 $a9910782268403321 996 $aHaptics for teleoperated surgical robotic systems$93681008 997 $aUNINA