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Development Of Piezoresistive Tactile Sensors And A Graphical Display System For Minimally Invasive Surgery And Robotics
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Book Synopsis Development of Piezoresistive Tactile Sensors and a Graphical Display System for Minimally Invasive Surgery and Robotics by : Masoud Kalantari
Download or read book Development of Piezoresistive Tactile Sensors and a Graphical Display System for Minimally Invasive Surgery and Robotics written by Masoud Kalantari and published by . This book was released on 2013 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Tactile Sensing and Displays by : Javad Dargahi
Download or read book Tactile Sensing and Displays written by Javad Dargahi and published by John Wiley & Sons. This book was released on 2012-11-06 with total page 287 pages. Available in PDF, EPUB and Kindle. Book excerpt: Comprehensively covers the key technologies for the development of tactile perception in minimally invasive surgery Covering the timely topic of tactile sensing and display in minimally invasive and robotic surgery, this book comprehensively explores new techniques which could dramatically reduce the need for invasive procedures. The tools currently used in minimally invasive surgery (MIS) lack any sort of tactile sensing, significantly reducing the performance of these types of procedures. This book systematically explains the various technologies which the most prominent researchers have proposed to overcome the problem. Furthermore, the authors put forward their own findings, which have been published in recent patents and patent applications. These solutions offer original and creative means of surmounting the current drawbacks of MIS and robotic surgery. Key features:- Comprehensively covers topics of this ground-breaking technology including tactile sensing, force sensing, tactile display, PVDF fundamentals Describes the mechanisms, methods and sensors that measure and display kinaesthetic and tactile data between a surgical tool and tissue Written by authors at the cutting-edge of research into the area of tactile perception in minimally invasive surgery Provides key topic for academic researchers, graduate students as well as professionals working in the area
Book Synopsis Robotic Tactile Sensing by : Ravinder S. Dahiya
Download or read book Robotic Tactile Sensing written by Ravinder S. Dahiya and published by Springer Science & Business Media. This book was released on 2012-07-29 with total page 258 pages. Available in PDF, EPUB and Kindle. Book excerpt: Future robots are expected to work closely and interact safely with real-world objects and humans alike. Sense of touch is important in this context, as it helps estimate properties such as shape, texture, hardness, material type and many more; provides action related information, such as slip detection; and helps carrying out actions such as rolling an object between fingers without dropping it. This book presents an in-depth description of the solutions available for gathering tactile data, obtaining aforementioned tactile information from the data and effectively using the same in various robotic tasks. The efforts during last four decades or so have yielded a wide spectrum of tactile sensing technologies and engineered solutions for both intrinsic and extrinsic touch sensors. Nowadays, new materials and structures are being explored for obtaining robotic skin with physical features like bendable, conformable, and stretchable. Such features are important for covering various body parts of robots or 3D surfaces. Nonetheless, there exist many more hardware, software and application related issues that must be considered to make tactile sensing an effective component of future robotic platforms. This book presents an in-depth analysis of various system related issues and presents the trade-offs one may face while developing an effective tactile sensing system. For this purpose, human touch sensing has also been explored. The design hints coming out of the investigations into human sense of touch can be useful in improving the effectiveness of tactile sensory modality in robotics and other machines. Better integration of tactile sensors on a robot’s body is prerequisite for the effective utilization of tactile data. The concept of semiconductor devices based sensors is an interesting one, as it allows compact and fast tactile sensing systems with capabilities such as human-like spatio-temporal resolution. This book presents a comprehensive description of semiconductor devices based tactile sensing. In particular, novel Piezo Oxide Semiconductor Field Effect Transistor (POSFET) based approach for high resolution tactile sensing has been discussed in detail. Finally, the extension of semiconductors devices based sensors concept to large and flexile areas has been discussed for obtaining robotic or electronic skin. With its multidisciplinary scope, this book is suitable for graduate students and researchers coming from diverse areas such robotics (bio-robots, humanoids, rehabilitation etc.), applied materials, humans touch sensing, electronics, microsystems, and instrumentation. To better explain the concepts the text is supported by large number of figures.
Book Synopsis Development of Capacitive Tactile Sensors for Surgical Systems by : Yuan Dai
Download or read book Development of Capacitive Tactile Sensors for Surgical Systems written by Yuan Dai and published by . This book was released on 2015 with total page 85 pages. Available in PDF, EPUB and Kindle. Book excerpt: Minimally invasive surgery (MIS) has gained popularity over traditional open surgery due to its advantages of decreased incision size and pain to the patient, lower risk of infection, and shorter recovery time. Recent developments in robotic surgical systems have shown promise to further advance MIS by offering the surgeons with increased manipulability and dexterity along with 3D vision. However, one major disadvantage associated with robotic surgery is the absence of tactile feedback, which is critical in tool-tissue interaction. This paper provides an overview and information useful for approaching a novel tactile feedback sensor system. We aim to construct highly sensitive micro-scale tri-axial capacitive-based differential force sensors that will be integrated at the tips of surgical tools used in robotic surgery. To date, three capacitive sensor models have been proposed. Comb drive model, joystick model and single-sided capacitive sensor model. The first two models were initially created by COMSOL, with optimized geometry parameters. We demonstrate that all three models can satisfy the sensitivity and resolution requirement after being connected with a readout circuit. The fabrication process is proposed and short-loop experiments have been conducted. The integration of read-out circuits with the capacitive sensor is designed on a flexible printed circuit board, which will be first connected to the computer with LabVIEW based controller to convert the analog signal to digital capacitor signal, and the force information as well as the real-time sensitivity, resolution values can be obtained. After the functionality of the sensor is proven to be valid, the proposed tactile sensor system needs to integrate into current Haptic Feedback System. Both the microcontroller and the software need to be modified to function with the proposed sensor and the actuators.
Book Synopsis Tactile Sensors for Minimally Invasive Surgical Systems by : Omeed Paydar
Download or read book Tactile Sensors for Minimally Invasive Surgical Systems written by Omeed Paydar and published by . This book was released on 2016 with total page 79 pages. Available in PDF, EPUB and Kindle. Book excerpt: Minimally invasive surgery (MIS) improves patient outcomes. Operations result in smaller incisions, shorter recovery times, lower risk of infection, and reduced pain as compared to open surgery. Moreover, robotic surgical systems improve upon traditional laparoscopic tools used in MIS, including improved dexterity, tremor removal, scaled movements, and 3D visualization. While the adoption of robotic surgical tools accelerates nationwide, these systems are characterized by an absence of touch sensation, which ultimately impedes transition of more delicate procedures. Likewise, excessive grip forces could induce tissue damage, including scar formation, hemorrhaging, perforations, and adhesions. Furthermore, without tactile information, sutures fail because of excessive tensile loads and surgeons require additional training to reach proficiency on the available surgical robots. Although robotics addresses a subset of surgical procedures, efforts to develop and integrate multi-axis biocompatible sensor arrays with commercial robotic surgical systems remain inadequate. New tools that measure compressive sensing could prevent tissue crush injuries, while shear sensing will help reduce suture failure from excessive tensile loads. Consequently, this study investigates the development of a capacitive sensor capable of restoring touch sensation to surgeons operating robotic surgical systems. Real-time access to operative loads could minimize robotic surgical complications, and ultimately, lead to the inclusion of more challenging (demanding) procedures. This work explores a relatively under-researched, undeveloped area of robotic surgery and the major remaining challenge. Because minimally invasive surgery (MIS), specifically robotic surgery, is becoming more prevalent [1], efforts to improve the outcomes are essential. Successful acquisition of intraoperative tactile information will fast-track acceptance of these tools and prevent unwanted patient outcomes.
Book Synopsis Advanced Tactile Sensing For Robotics by : Howard R Nicholls
Download or read book Advanced Tactile Sensing For Robotics written by Howard R Nicholls and published by World Scientific. This book was released on 1992-12-10 with total page 320 pages. Available in PDF, EPUB and Kindle. Book excerpt: Advanced robot systems require sensory information to enable them to make decisions and to carry out actions in a versatile, autonomous way. Humans make considerable use of information derived through touch, and an emerging domain of robot sensing is tactile sensing. This book considers various aspects of tactile sensing, from hardware design through to the use of tactile data in exploratory situations using a multi-fingered robot hand.In the first part of the book, the current state of progress of tactile sensing is surveyed, and it is found that the field is still in an early stage of development. Next, some fundamental issues in planar elasticity, concerning the interaction between tactile sensors and the environment, are presented. Having established how the basic data can be derived from the sensors, the issues of what form tactile sensors should take, and how they should be used, are considered. This is particularly important given the infancy of this field. The human tactile system is examined, and then biological touch and its implications for robotics is looked at. Some experiments in dextrous manipulation using a robot hand are described, which apply some of these results. The integration of tactile sensors into a complete system is also considered, and another, novel, approach for using touch sensing in a flexible assembly machine is described.Both basic material and new research results are provided in this book, thus catering to different levels of readers. The chapters by world experts in different aspects of the field are integrated well into one volume. The editor and authors have produced a thorough and in-depth survey of all work in robot tactile sensing, making the book essential reading for all researchers in this emergent field.
Book Synopsis Tactile Sensing, Skill Learning, and Robotic Dexterous Manipulation by : Qiang Li
Download or read book Tactile Sensing, Skill Learning, and Robotic Dexterous Manipulation written by Qiang Li and published by Academic Press. This book was released on 2022-04-02 with total page 374 pages. Available in PDF, EPUB and Kindle. Book excerpt: Tactile Sensing, Skill Learning and Robotic Dexterous Manipulation focuses on cross-disciplinary lines of research and groundbreaking research ideas in three research lines: tactile sensing, skill learning and dexterous control. The book introduces recent work about human dexterous skill representation and learning, along with discussions of tactile sensing and its applications on unknown objects’ property recognition and reconstruction. Sections also introduce the adaptive control schema and its learning by imitation and exploration. Other chapters describe the fundamental part of relevant research, paying attention to the connection among different fields and showing the state-of-the-art in related branches. The book summarizes the different approaches and discusses the pros and cons of each. Chapters not only describe the research but also include basic knowledge that can help readers understand the proposed work, making it an excellent resource for researchers and professionals who work in the robotics industry, haptics and in machine learning. Provides a review of tactile perception and the latest advances in the use of robotic dexterous manipulation Presents the most detailed work on synthesizing intelligent tactile perception, skill learning and adaptive control Introduces recent work on human’s dexterous skill representation and learning and the adaptive control schema and its learning by imitation and exploration Reveals and illustrates how robots can improve dexterity by modern tactile sensing, interactive perception, learning and adaptive control approaches
Book Synopsis Tactile Sensors for Robotic Applications by : Salvatore Pirozzi
Download or read book Tactile Sensors for Robotic Applications written by Salvatore Pirozzi and published by MDPI. This book was released on 2021-03-17 with total page 248 pages. Available in PDF, EPUB and Kindle. Book excerpt: The book covers different aspects: - Innovative technologies for tactile sensors development - Tactile data interpretation for control purposes - Alternative sensing technologies - Multi-sensor systems for grasping and manipulation - Sensing solutions for impaired people
Book Synopsis Medicine Meets Virtual Reality 17 by : James D. Westwood
Download or read book Medicine Meets Virtual Reality 17 written by James D. Westwood and published by IOS Press. This book was released on 2009 with total page 500 pages. Available in PDF, EPUB and Kindle. Book excerpt: The 17th annual Medicine Meets Virtual Reality (MMVR17) was held January 19-22, 2009, in Long Beach, CA, USA. The conference is well established as a forum for emerging data-centered technologies for medical care and education. This proceedings volume is of interest to physicians, surgeons and other medical professionals.
Book Synopsis Haptics For Teleoperated Surgical Robotic Systems by : Mahdi Tavakoli
Download or read book Haptics For Teleoperated Surgical Robotic Systems written by Mahdi Tavakoli and published by World Scientific. This book was released on 2008-04-14 with total page 179 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Book Synopsis Design and Development of New Tactile Softness Displays for Minimally Invasive Surgery by : Mohammadreza Ramezanifard
Download or read book Design and Development of New Tactile Softness Displays for Minimally Invasive Surgery written by Mohammadreza Ramezanifard and published by . This book was released on 2008 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Despite an influential shortcoming of minimally invasive sugary (MIS), which is the lack of tactile feedback to the surgeon, MIS has increasingly been used in various types of surgeries. Restoring the missing tactile feedback, especially information which can be obtained by the palpation of tissue, such as detection of embedded lump and softness characterization is important in MIS. The present study aims to develop tactile feedback systems both graphically and physically. In graphical rendering approach, the proposed system receives signals from the previously fabricated piezoelectric softness sensors which are integrated with an MIS grasper. After processing the signals, the tactile information is displayed by means of a color coding method. Using the graphical images, the softness of the grasped objects can visually be differentiated. A physical tactile display system is also designed and fabricated. This system simulates non-linear material properties of different soft objects. The system consists of a linear actuator, force and position sensors and processing software. A PID controller is used to control the motion of a linear actuator according to the properties of the simulated material and applied force. Graphical method was also examined to render the tactile information of embedded lumps within a soft tissue/object. The necessary information on the size and location of the hidden features are collected using sensorized MIS graspers. The information is then processed and graphically rendered to the surgeon. Using the proposed system surgeons can identify presence, location and approximate size of hidden lumps by grasping the target object with a reasonable accuracy. Finally, in order to determine the softness of the grasped object, another novel approach is taken by the design and fabrication of a smart endoscopic tool equipped with sensors for measuring the applied force and the angle of the grasper jaws. Using this method, the softness/compliance of the grasped object can be estimated and presented to the surgeon.
Book Synopsis Functional Tactile Sensors by : Ye Zhou
Download or read book Functional Tactile Sensors written by Ye Zhou and published by Woodhead Publishing. This book was released on 2021-01-20 with total page 316 pages. Available in PDF, EPUB and Kindle. Book excerpt: Functional Tactile Sensors: Materials, Devices and Integrations focuses on the subject of novel materials design and device integration of tactile sensors for functional applications. The book addresses the design, materials characteristics, device operation principles, specialized device application and mechanisms of the latest reported tactile sensors. The emphasis of the book lies in the materials science aspects of tactile sensors—understanding the relationship between material properties and device performance. It will be an ideal resource for researchers working in materials science, engineering and physics. Includes the latest advances and recent developments in tactile sensors for artificial intelligence applications Reviews the relationship between materials properties and device performance Addresses materials and device design strategies for targeted sensing applications
Book Synopsis Grasper Integrated Miniaturized Tri-Axial Force Sensor System for Robotic Minimally Invasive Surgery by : Yuan Dai
Download or read book Grasper Integrated Miniaturized Tri-Axial Force Sensor System for Robotic Minimally Invasive Surgery written by Yuan Dai and published by . This book was released on 2018 with total page 181 pages. Available in PDF, EPUB and Kindle. Book excerpt: Minimally invasive surgery (MIS) has gained popularity over traditional open surgery due to its advantages of decreased incision size and pain to the patient, lower risk of infection, and shorter recovery time. Recent developments in robotic surgical systems have shown promise to further advance MIS by offering the surgeons with increased manipulability and dexterity along with 3D vision. However, the lack of tactile feedback is the key feature that is needed for robotic surgery to reach its full potential. Recent research efforts have successfully integrated some degree of tactile feedback components onto surgical robotic instruments, and have shown significant improvement of the outcome of the surgical performance. The primary barrier to the adoption of tactile feedback in clinical use is the unavailability of suitable tri-axial force sensing technologies that can be integrated with the medical instruments. Besides well-understood normal force sensing, shear force sensing is also critical in clinical tasks, such as suturing, where shear sensing could prevent breakage of sutures due to excessive shear force. This paper describes the design, batch microfabrication, and characterization of a miniature force sensor for providing haptic feedback in robotic surgical systems. We demonstrate for the first time a microfabricated sensor that can provide triaxial sensing (normal, x-shear, y-shear) in a single sensor element that is integrated with commercial robotic surgical graspers. Features of this capacitive force sensor include differential sensing in the shear directions as well as a design where all electrical connections are on one side, leaving the backside pristine as the sensing face for surgical tasks. The sensor readout is performed by a custom-designed printed circuit board with 24-bit resolution. The integration of read-out circuits with the capacitive sensor is designed on two printed circuit boards that can be clipped together, providing the possibility for disposable sensors. The sensing system is first connected to the LabVIEW-based controller, to convert the analog capacitor signal to a digital signal representing force. After the functionality of the sensor is proven, the tactile sensor system is then integrated with our custom Visual Studio based feedback control system. Initial LabVIEW results validate the batch fabrication of the capacitive sensors and the design of the control circuit. The sensor is characterized using a sensing circuit with a 24-bit resolution at 11 Hz-109 Hz. With the LabVIEW program, the sensor and the readout circuitry contribute to a noise down to 0.8 fF to the normal z-direction, 0.2 fF to the shear x-direction, and 0.9 fF to the shear y-direction at 8 Hz bandwidth. The grasper integrated sensor system uses an Arduino based controller to multiplex between x, y, and z directions, providing 24 packets of tri-axial data per second to the Visual Studio-based computer application, with down to 0.094 fF capacitance noise to the normal z-direction, 0.078 fF to the shear x-direction, and 0.0825 fF to the shear y-direction at 87.2 Hz bandwidth. The sensitivity measured for the sensor is 14.58 fF/N for normal z direction, 0.83 fF/N for the shear x direction, and 0.62 fF/N for the shear y direction. We report a normal resolution of 6.45 mN, x-shear resolution of 94.7 mN, and y-shear resolution of 133 mN, all of which are more than sufficient for clinically relevant forces. A data latency of less than 42 ms is achieved to obtain a triaxial data package and transmit it to the computer through the WiFi network. A user study has been performed to tackle the suture breakage phenomenon that occurs during robotic surgery with the application of excessive forces due to lack of haptic feedback. The work aims to develop and validate a bi-axial shear feedback system that warns the operator to anticipated suture breakage. The benefits of a suture breakage warning system may be a reduced incidence of suture failure with otherwise equivalent knot quality during the tying procedure. Biaxial shear sensors were placed on the Cadiere grasper tips of a da Vinci robotic surgical system. 17 novice subjects were then instructed to tighten 10 knots made from Silk 3-0 sutures, five times with the Haptic Feedback System (HFS) enabled, and five times with the system disabled (i.e., without any feedback). During each trial, the number of suture breakages was recorded. After trial completion, knots were evaluated for tightness. This was accomplished by measuring the amount of knot slippage following knot tying. Additional metrics recorded were the time required for completing each trial and both the average force and peak force applied in each trial. Seven suture failures occurred in trials with HFS enabled while seventeen occurred in trials without feedback. The biaxial shear sensing system reduced the incidence of suture failure by 59% (). It also resulted in 25% lower average applied force in comparison to trials without feedback (), which is relevant because average force was observed to play a role in suture breakage (p=0.03925). Results of a 55% decrease in standard deviation of quality knots tied with HFS also indicate an improvement in consistency when using the feedback system. These results suggest this system may improve outcomes related to knot tying tasks in robotic surgery and reduce instances of suture failure while not degrading the quality of knots produced.
Book Synopsis Haptics-enabled Teleoperation for Robotics-assisted Minimally Invasive Surgery by : Ali Talasaz
Download or read book Haptics-enabled Teleoperation for Robotics-assisted Minimally Invasive Surgery written by Ali Talasaz and published by . This book was released on 2012 with total page 304 pages. Available in PDF, EPUB and Kindle. Book excerpt: The lack of force feedback (haptics) in robotic surgery can be considered to be a safety risk leading to accidental tissue damage and puncturing of blood vessels due to excessive forces being applied to tissue and vessels or causing inefficient control over the instruments because of insufficient applied force. This project focuses on providing a satisfactory solution for introducing haptic feedback in robotics-assisted minimally invasive surgical (RAMIS) systems. The research addresses several key issues associated with the incorporation of haptics in a master-slave (teleoperated) robotic environment for minimally invasive surgery (MIS). In this project, we designed a haptics-enabled dual-arm (two masters - two slaves) robotic MIS testbed to investigate and validate various single-arm as well as dual-arm teleoperation scenarios. The most important feature of this setup is the capability of providing haptic feedback in all 7 degrees of freedom (DOF) required for RAMIS (3 translations, 3 rotations and pinch motion of the laparoscopic tool). The setup also enables the evaluation of the effect of replacing haptic feedback by other sensory cues such as visual representation of haptic information (sensory substitution) and the hypothesis that surgical outcomes may be improved by substituting or augmenting haptic feedback by such sensory cues. To provide realistic haptic feedback, it is necessary to measure forces acting at the tip of the laparoscopic instruments in all appropriate directions, as well as when gripping, cutting or palpating tissue. In order to achieve this, we have incorporated two types of laparoscopic instruments in the testbed: A sensorized da Vinci tool, with the capability of measuring grasping forces provided by several strain gauges embedded in the tool shaft, and a customized instrument, the Tactile Sensing Instrument (TSI), which has been developed in our laboratory for soft-tissue palpation in RAMIS. Two surgical scenarios are considered in this project: Tumor localization in soft-tissue palpation, and endoscopic suturing. The first application is to localize tumors embedded in liver and lung tissue through the single-arm master-slave teleoperation system. Since the stiffness of a tumor is higher than that of healthy tissue, it can be distinguished as a hard nodule during remote palpation. Tactile sensing is a method that can be used in RAMIS to localize cancerous tumors prior to performing ablative therapies. However, its performance is highly dependent on the consistency of the exploration force. Using the customized tactile sensing instrument, the pressure distribution over the tissue is captured and provided as a color contour map on a screen. In order to apply the exploration force consistently over the tissue, different force feedback modalities are incorporated with tactile sensing feedback: Direct reflection of force feedback, visual presentation of interaction forces, and a fusion method utilizing an autonomous force control for the exploration force in the palpation direction and direct reflection of the force measured at the location of the tumor to the operator's fingers through the grasper mechanism of the haptic interface. The problem of incorporating haptic feedback in robot-assisted endoscopic suturing is explored as the next telesurgery scenario. The dual-arm teleoperation setup is used for this application. In order to assess the quality of suturing, we divide the suturing task into two phases: stitching and knot tying. Each phase consists of several well-specified sub-tasks. The experiments are performed in three modes: without force feedback, with visual force feedback and with direct force reflection to the user. Three levels are considered for the visual feedback presented to the user. The main objective of showing force in different levels is to assure the user that the force being applied on the suture is sufficient to end up with a secure knot. The main focus on this work is to explore which way of presenting force feedback can be more effectively used, and how each modality can help the user to increase the performance.
Book Synopsis Optical Microsystems for Static and Dynamic Tactile Sensing by : Roozbeh Ahmadi
Download or read book Optical Microsystems for Static and Dynamic Tactile Sensing written by Roozbeh Ahmadi and published by . This book was released on 2012 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Robot Tactile Sensing by : R. Andrew Russell
Download or read book Robot Tactile Sensing written by R. Andrew Russell and published by . This book was released on 1990 with total page 192 pages. Available in PDF, EPUB and Kindle. Book excerpt: This work introduces tactile sensing for those engaged in advanced, sensor-based robotics, with special reference to problems of addressing arrays of sensor elements. It describes tactile sensors to register contact, surface profile, thermal properties and other tactile sensing modes. The use of robot manipulators to provide mobility for tactile sensors, and techniques for applying tactile sensing in robotic manipulation and recognition tasks are also covered. The various applications of this technology are discussed, and robot hands and grips are detailed.
Book Synopsis Handbook of Robotic and Image-Guided Surgery by : Mohammad Abedin-Nasab
Download or read book Handbook of Robotic and Image-Guided Surgery written by Mohammad Abedin-Nasab and published by Elsevier. This book was released on 2019-09-25 with total page 752 pages. Available in PDF, EPUB and Kindle. Book excerpt: Handbook of Robotic and Image-Guided Surgery provides state-of-the-art systems and methods for robotic and computer-assisted surgeries. In this masterpiece, contributions of 169 researchers from 19 countries have been gathered to provide 38 chapters. This handbook is 744 pages, includes 659 figures and 61 videos. It also provides basic medical knowledge for engineers and basic engineering principles for surgeons. A key strength of this text is the fusion of engineering, radiology, and surgical principles into one book. A thorough and in-depth handbook on surgical robotics and image-guided surgery which includes both fundamentals and advances in the field A comprehensive reference on robot-assisted laparoscopic, orthopedic, and head-and-neck surgeries Chapters are contributed by worldwide experts from both engineering and surgical backgrounds
