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Haptics for teleoperated surgical robotic systems [[electronic resource] /] / M. Tavakoli ... [et al.]
| Haptics for teleoperated surgical robotic systems [[electronic resource] /] / M. Tavakoli ... [et al.] |
| Pubbl/distr/stampa | Hackensack, NJ, : World Scientific, c2008 |
| Descrizione fisica | 1 online resource (180 p.) |
| Disciplina |
610.284
617.00284 |
| Altri autori (Persone) | TavakoliM |
| Collana | New frontiers in robotics |
| Soggetto topico |
Robotics in medicine
Touch |
| Soggetto genere / forma | Electronic books. |
| ISBN |
1-281-96094-2
9786611960940 981-281-316-0 |
| Formato | Materiale a stampa  |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto |
Contents; 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
1.3.1.3 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 3. 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 4.1.2 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 5.3.2 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 7.1 Introduction |
| Record Nr. | UNINA-9910453192603321 |
| Hackensack, NJ, : World Scientific, c2008 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
| ||
Haptics for teleoperated surgical robotic systems [[electronic resource] /] / M. Tavakoli ... [et al.]
| Haptics for teleoperated surgical robotic systems [[electronic resource] /] / M. Tavakoli ... [et al.] |
| Pubbl/distr/stampa | Hackensack, NJ, : World Scientific, c2008 |
| Descrizione fisica | 1 online resource (180 p.) |
| Disciplina |
610.284
617.00284 |
| Altri autori (Persone) | TavakoliM |
| Collana | New frontiers in robotics |
| Soggetto topico |
Robotics in medicine
Touch |
| ISBN |
1-281-96094-2
9786611960940 981-281-316-0 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto |
Contents; 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
1.3.1.3 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 3. 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 4.1.2 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 5.3.2 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 7.1 Introduction |
| Record Nr. | UNINA-9910782268403321 |
| Hackensack, NJ, : World Scientific, c2008 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
| ||
Haptics for teleoperated surgical robotic systems / / M. Tavakoli ... [et al.]
| Haptics for teleoperated surgical robotic systems / / M. Tavakoli ... [et al.] |
| Edizione | [1st ed.] |
| Pubbl/distr/stampa | Hackensack, NJ, : World Scientific, c2008 |
| Descrizione fisica | 1 online resource (180 p.) |
| Disciplina |
610.284
617.00284 |
| Altri autori (Persone) | TavakoliM |
| Collana | New frontiers in robotics |
| Soggetto topico |
Robotics in medicine
Touch |
| ISBN |
1-281-96094-2
9786611960940 981-281-316-0 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto |
Contents; 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
1.3.1.3 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 3. 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 4.1.2 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 5.3.2 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 7.1 Introduction |
| Record Nr. | UNINA-9910823016303321 |
| Hackensack, NJ, : World Scientific, c2008 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
| ||