An Investigation Into The Benefits Of Tactile Feedback For Laparoscopic Robotic And Remote Surgery

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An Investigation Into the Benefits of Tactile Feedback for Laparoscopic, Robotic, and Remote Surgery

Author : Christopher Robert Wottawa
Publisher :
ISBN 13 :
Total Pages : 147 pages
Book Rating : 4.:/5 (863 download)

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Book Synopsis An Investigation Into the Benefits of Tactile Feedback for Laparoscopic, Robotic, and Remote Surgery by : Christopher Robert Wottawa

Download or read book An Investigation Into the Benefits of Tactile Feedback for Laparoscopic, Robotic, and Remote Surgery written by Christopher Robert Wottawa and published by . This book was released on 2013 with total page 147 pages. Available in PDF, EPUB and Kindle. Book excerpt: Minimally invasive surgery (MIS) provides profound and well-known benefits to patients at the cost of increased technical difficulty for surgeons. In all types of minimally invasive surgery, including robotic, laparoscopic, and remote surgery, tactile information is altered, or in the case of robotic procedures, completely absent. The first version of a tactile feedback system for robotic surgery was completed in 2008. During the course of this research, the feedback system was iteratively redesigned in order to address some of its shortcomings, improve its performance, and to allow the necessary expansion to other applications and in-vivo use. When the improved tactile feedback system was integrated with a non-robotic laparoscopic grasper, it was found that tactile feedback significantly decreased the grip force of novice subjects during laparoscopic training, but had little impact on experts. After designing a new water insulation methodology, the system was integrated with the da Vinci surgical robot and used for the first time in a live tissue experiment. This experiment showed that there was a high variability between subjects, and that there was a correlation between the amount of force used and amount of damage observed. Most expert and novice subjects used significantly decreased grasping forces, and had significantly fewer sites of damage when evaluated by a blinded pathologist, but some of this may have been caused by familiarization with the task. The first prototype remote surgery system with tactile feedback was developed by combining three existing systems: The University of Washington RAVEN-II, the UCLA LapaRobot, and the improved tactile feedback system. In a preliminary investigation of remote surgery over a simulated network with delays of 100 ms and then 1 ms, there were decreases in grasping force for most subjects, and more significant retention when the time delay was minimized. Together these findings suggest that tactile may be a beneficial addition to minimally invasive surgical systems - especially for cases with heavy cognitive demand, such as training of novice users, challenging control schemes, and when handling delicate tissue - and that efforts should continue to advance the feedback system towards clinical viability.

Tactile Sensing and Displays

Author : Javad Dargahi
Publisher : John Wiley & Sons
ISBN 13 : 1118357973
Total Pages : 287 pages
Book Rating : 4.1/5 (183 download)

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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

Investigation of Multi-Modal Haptic Feedback Systems for Robotic Surgery

Author : Ahmad Abiri
Publisher :
ISBN 13 :
Total Pages : 183 pages
Book Rating : 4.:/5 (17 download)

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Book Synopsis Investigation of Multi-Modal Haptic Feedback Systems for Robotic Surgery by : Ahmad Abiri

Download or read book Investigation of Multi-Modal Haptic Feedback Systems for Robotic Surgery written by Ahmad Abiri and published by . This book was released on 2017 with total page 183 pages. Available in PDF, EPUB and Kindle. Book excerpt: The advent of minimally invasive surgery (MIS) led to significant benefits for patients at a cost of increase technical difficulty for surgeons. Robotic minimally invasive surgery (RMIS) was introduced to help eliminate some of the outstanding challenges by introducing improvements such as enhanced 3D vision and additional degrees of freedom. Unfortunately, RMIS resulted in a complete loss of haptic feedback, a problem that has persisted even after more than a decade of technology development. The limitations introduced by the loss of feedback in robotic surgery gave birth to innovations and significant research on haptic feedback systems (HFS). These systems aimed to provide an artificial sense of touch. Researchers have focused on many varieties of feedback technologies, most often relying on one specific feedback modality to help improve performance in a few, limited robotic surgical procedures. This research project set out to investigate multi-modal haptic feedback systems capable of providing benefits for many different robotic surgical applications. Having inherited an existing tactile feedback system designed for reducing crush injuries in robotic surgical procedures, this project implemented various critical enhancements for pneumatic normal force tactile feedback. Improvements to the sensing technology such as design of shear sensing mechanisms helped expand the application of haptics beyond grip force reduction. The development and integration of additional modalities of feedback including kinesthetic force feedback and vibration feedback, and design of a highly configurable software architecture allowed the application of the multi-modal HFS in several different RMIS applications. Evaluation of the system for knot tying in robotic surgery showed significant benefits in reducing suture breakage and improving knot quality. Application of the multi-modal HFS for palpation in robotic surgery helped improve detection non-compressible structures such as tumors and vessels in soft tissue phantoms. Finally, the system improved upon the previously developed unimodal tactile feedback systems with regards to reduction of grip force in RMIS. The results of these investigations highlight the importance of developing multi-modal haptic feedback systems that are able simulate the synergistic relationship between the various feedback modalities involved in real human touch. Robotic surgical systems have long been held back by their lack of comprehensive haptic feedback solutions. Multi-modal haptic feedback systems hold the promise of eliminating this long-standing problem and helping expand the application of robotics in surgical sciences.

Haptics For Teleoperated Surgical Robotic Systems

Author : Mahdi Tavakoli
Publisher : World Scientific
ISBN 13 : 9814471275
Total Pages : 179 pages
Book Rating : 4.8/5 (144 download)

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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.

Haptics-enabled Teleoperation for Robotics-assisted Minimally Invasive Surgery

Author : Ali Talasaz
Publisher :
ISBN 13 :
Total Pages : 304 pages
Book Rating : 4.:/5 (16 download)

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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.

Handbook of Robotic and Image-Guided Surgery

Author : Mohammad Abedin-Nasab
Publisher : Elsevier
ISBN 13 : 0128142464
Total Pages : 752 pages
Book Rating : 4.1/5 (281 download)

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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

Cutaneous Haptic Feedback in Robotic Teleoperation

Author : Claudio Pacchierotti
Publisher : Springer
ISBN 13 : 331925457X
Total Pages : 157 pages
Book Rating : 4.3/5 (192 download)

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Book Synopsis Cutaneous Haptic Feedback in Robotic Teleoperation by : Claudio Pacchierotti

Download or read book Cutaneous Haptic Feedback in Robotic Teleoperation written by Claudio Pacchierotti and published by Springer. This book was released on 2015-11-06 with total page 157 pages. Available in PDF, EPUB and Kindle. Book excerpt: This work addresses the challenge of providing effective cutaneous haptic feedback in robotic teleoperation, with the objective of achieving the highest degree of transparency whilst guaranteeing the stability of the considered systems. On the one hand, it evaluates teleoperation systems that provide only cutaneous cues to the operator, thus guaranteeing the highest degree of safety. This cutaneous-only approach shows intermediate performance between no force feedback and full haptic feedback provided by a grounded haptic interface, and it is best suitable for those scenarios where the safety of the system is paramount, e.g., robotic surgery. On the other hand, in order to achieve a higher level of performance, this work also investigates novel robotic teleoperation systems with force reflection able to provide mixed cutaneous and kinesthetic cues to the operator. Cutaneous cues can compensate for the temporary reduction of kinesthetic feedback necessary to satisfy certain stability conditions. This state-of-the-art volume is oriented toward researchers, educators, and students who are interested in force feedback techniques for robotic teleoperation, cutaneous device design, cutaneous rendering methods and perception studies, as well as readers from different disciplines who are interested in applying cutaneous haptic technologies and methods to their field of interest.

ANOVA

Author : Ellen R. Girden
Publisher : SAGE
ISBN 13 : 9780803942578
Total Pages : 88 pages
Book Rating : 4.9/5 (425 download)

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Book Synopsis ANOVA by : Ellen R. Girden

Download or read book ANOVA written by Ellen R. Girden and published by SAGE. This book was released on 1992 with total page 88 pages. Available in PDF, EPUB and Kindle. Book excerpt: Focusing on situations in which analysis of variance (ANOVA) involving the repeated measurement of separate groups of individuals is needed, Girden reveals the advantages, disadvantages, and counterbalancing issues of repeated measures situations. Using additive and nonadditive models to guide the analysis in each chapter, the book covers such topics as the rationale for partitioning the sum of squares, detailed analyses to facilitate the interpretation of computer printouts, the rationale for the F ratios in terms of expected means squares, validity assumptions for sphericity or circularity and approximate tests to perform when sphericity is not met.

Medical Robotics

Author : Vanja Bozovic
Publisher : IntechOpen
ISBN 13 : 9783902613189
Total Pages : 536 pages
Book Rating : 4.6/5 (131 download)

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Book Synopsis Medical Robotics by : Vanja Bozovic

Download or read book Medical Robotics written by Vanja Bozovic and published by IntechOpen. This book was released on 2008-01-01 with total page 536 pages. Available in PDF, EPUB and Kindle. Book excerpt: The first generation of surgical robots are already being installed in a number of operating rooms around the world. Robotics is being introduced to medicine because it allows for unprecedented control and precision of surgical instruments in minimally invasive procedures. So far, robots have been used to position an endoscope, perform gallbladder surgery and correct gastroesophogeal reflux and heartburn. The ultimate goal of the robotic surgery field is to design a robot that can be used to perform closed-chest, beating-heart surgery. The use of robotics in surgery will expand over the next decades without any doubt. Minimally Invasive Surgery (MIS) is a revolutionary approach in surgery. In MIS, the operation is performed with instruments and viewing equipment inserted into the body through small incisions created by the surgeon, in contrast to open surgery with large incisions. This minimizes surgical trauma and damage to healthy tissue, resulting in shorter patient recovery time. The aim of this book is to provide an overview of the state-of-art, to present new ideas, original results and practical experiences in this expanding area. Nevertheless, many chapters in the book concern advanced research on this growing area. The book provides critical analysis of clinical trials, assessment of the benefits and risks of the application of these technologies. This book is certainly a small sample of the research activity on Medical Robotics going on around the globe as you read it, but it surely covers a good deal of what has been done in the field recently, and as such it works as a valuable source for researchers interested in the involved subjects, whether they are currently “medical roboticists” or not.

A Balloon-based Haptic Feedback System for Minimally Invasive and Robotic Surgical Instrumentation

Author : Adrienne Therese Higa
Publisher :
ISBN 13 :
Total Pages : 240 pages
Book Rating : 4.:/5 ( download)

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Book Synopsis A Balloon-based Haptic Feedback System for Minimally Invasive and Robotic Surgical Instrumentation by : Adrienne Therese Higa

Download or read book A Balloon-based Haptic Feedback System for Minimally Invasive and Robotic Surgical Instrumentation written by Adrienne Therese Higa and published by . This book was released on 2006 with total page 240 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Robotics in Plastic and Reconstructive Surgery

Author : Jesse C. Selber
Publisher : Springer Nature
ISBN 13 : 303074244X
Total Pages : 162 pages
Book Rating : 4.0/5 (37 download)

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Book Synopsis Robotics in Plastic and Reconstructive Surgery by : Jesse C. Selber

Download or read book Robotics in Plastic and Reconstructive Surgery written by Jesse C. Selber and published by Springer Nature. This book was released on 2021-07-30 with total page 162 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book describes the current state of robotics in plastic and reconstructive surgery. It examines existing clinical applications, emerging and future applications and evolving technological platforms. Concise yet comprehensive, this book is organized into four sections. It begins with an introduction to robotic microsurgical training and robotic skills assessment, including crowd-sourced evaluation in surgery. Section two explores a variety of robotic clinical application, including robotic breast reconstruction, robotic mastectomy, robotic cleft palate surgery and robotic microsurgery in a urologic private practice. Following this, section three addresses the opportunities and challenges an interested surgeon might face when considering incorporating this technology into their practice. To close, the final section discusses new microsurgical robotic platforms and the potential directions this technology may take in the future. Supplemented with high quality videos and images, Robotics in Plastic and Reconstructive Surgery is an invaluable resource for both plastic surgeons and multi-specialty micro-surgeons.

Telesurgery

Author : Sajeesh Kumar
Publisher : Springer Science & Business Media
ISBN 13 : 9783540705468
Total Pages : 220 pages
Book Rating : 4.7/5 (54 download)

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Book Synopsis Telesurgery by : Sajeesh Kumar

Download or read book Telesurgery written by Sajeesh Kumar and published by Springer Science & Business Media. This book was released on 2008-07-11 with total page 220 pages. Available in PDF, EPUB and Kindle. Book excerpt: Written by renowned international experts, this book explains technical issues, digital information processing, and provides collective experiences from practitioners who perform a wide range of telesurgery applications. The book lays the foundation for the globalization of surgical procedures, making possible the ability of a surgeon located in one part of the world to operate on a patient located in another.

Primer of Robotic and Telerobotic Surgery

Author : Garth H. Ballantyne
Publisher : Lippincott Williams & Wilkins
ISBN 13 : 0781748445
Total Pages : 270 pages
Book Rating : 4.7/5 (817 download)

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Book Synopsis Primer of Robotic and Telerobotic Surgery by : Garth H. Ballantyne

Download or read book Primer of Robotic and Telerobotic Surgery written by Garth H. Ballantyne and published by Lippincott Williams & Wilkins. This book was released on 2004 with total page 270 pages. Available in PDF, EPUB and Kindle. Book excerpt: Written by an international group of pioneering leaders in robotic and telerobotic surgery, this state-of-the-art volume examines the feasibility, uses, capabilities, and limitations of this emerging technology in surgical practice and training. Chapters discuss current electronic systems for guiding laparoscopic surgery and describe the various surgical robots and telerobotic surgical systems available. Major sections review recent experience with AESOP, a voice-controlled robotic camera holder, in laparoscopic procedures and explore various telerobotic-assisted procedures in cardiothoracic, gastrointestinal, and urologic surgery. Other chapters discuss cost issues in clinical use of telerobots, credentialing for telerobotic surgery, and use of telementoring in surgical training.

Medical Image Computing and Computer-Assisted Intervention - MICCAI 2002

Author : Takeyoshi Dohi
Publisher : Springer
ISBN 13 : 3540457860
Total Pages : 855 pages
Book Rating : 4.5/5 (44 download)

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Book Synopsis Medical Image Computing and Computer-Assisted Intervention - MICCAI 2002 by : Takeyoshi Dohi

Download or read book Medical Image Computing and Computer-Assisted Intervention - MICCAI 2002 written by Takeyoshi Dohi and published by Springer. This book was released on 2003-06-30 with total page 855 pages. Available in PDF, EPUB and Kindle. Book excerpt: The fifth international Conference in Medical Image Computing and Computer Assisted Intervention (MICCAI 2002) was held in Tokyo from September 25th to 28th, 2002. This was the first time that the conference was held in Asia since its foundation in 1998. The objective of the conference is to offer clinicians and scientists the opportunity to collaboratively create and explore the new medical field. Specifically, MICCAI offers a forum for the discussion of the state of art in computer-assisted interventions, medical robotics, and image processing among experts from multi-disciplinary professions, including but not limited to clinical doctors, computer scientists, and mechanical and biomedical engineers. The expectations of society are very high; the advancement of medicine will depend on computer and device technology in coming decades, as they did in the last decades. We received 321 manuscripts, of which 41 were chosen for oral presentation and 143 for poster presentation. Each paper has been included in these proceedings in eight-page full paper format, without any differentiation between oral and poster papers. Adherence to this full paper format, along with the increased number of manuscripts, surpassing all our expectations, has led us to issue two proceedings volumes for the first time in MICCAI’s history. Keeping to a single volume by assigning fewer pages to each paper was certainly an option for us considering our budget constraints. However, we decided to increase the volume to offer authors maximum opportunity to argue the state of art in their work and to initiate constructive discussions among the MICCAI audience.

A New Approach to Establish Tactility in Minimally Invasive Robotic Surgery

Author : Bernhard Kübler
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (846 download)

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Book Synopsis A New Approach to Establish Tactility in Minimally Invasive Robotic Surgery by : Bernhard Kübler

Download or read book A New Approach to Establish Tactility in Minimally Invasive Robotic Surgery written by Bernhard Kübler and published by . This book was released on 2010 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:

On the Design and Development of Robotic Mechanisms for Laparoscopic Surgery

Author : Te-mei Li
Publisher :
ISBN 13 :
Total Pages : 436 pages
Book Rating : 4.:/5 (767 download)

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Book Synopsis On the Design and Development of Robotic Mechanisms for Laparoscopic Surgery by : Te-mei Li

Download or read book On the Design and Development of Robotic Mechanisms for Laparoscopic Surgery written by Te-mei Li and published by . This book was released on 2006 with total page 436 pages. Available in PDF, EPUB and Kindle. Book excerpt: Laparoscopic surgery is performed in the abdominal area of a patient, through small incisions. Despite advantages to patients, surgeons have difficulties such as loss in manipulation ability, reduction in dexterity and sensation of touch, and indirect vision. Laparoscopic surgery requires the surgeons to learn a new form of hand-eye coordination and to become slullful in the manipulation of instruments. The objective of this research is in the synthesis, design, and development of new robotic mechanisms to assist surgeons to overcome surgical difficulties. These robotic mechanisms solve existing surgical problems such as inaccuracy in positioning of endoscopic tools, lack of force/tactile feedback, reduced dexterity and pneumoperitoneum. First, to solve the problem of positioning of endoscopic tools, a compact automated surgical tool-holding mechanism was designed and developed as a four DOF surgical robotic arm. This mechanism manipulates and positions the surgical tools or a laparoscopic camera automatically and thus eliminates the need for human assistance. The design parameters are optimized for a maximal workspace. The kinematics and numerical examples are presented. Second, to solve lack of forceitactile feedback problem, both gimbal and spherical parallel type devices are designed and developed to provide four DOF force feedback in surgical training or telesurgery. The spherical parallel types utilize a passive support component to support the weight and reduce inertia. The direct and inverse lunematics are discussed with direct lunematics solved by a neural network model for real time application. Third, design for manufacturing and cost structure model for haptic devices are analyzed. This design for manufacturability is implemented after which the bill of materials, machining process, and analysis of tolerance and accuracy are presented. Fourth, supporting mechanisms such as a local master-slave mechanism and abdominal surgical space maker are designed. The local master-slave mechanism contains two rotational DOF to increase surgical dexterity for difficult surgical tasks. This mechanism is manually actuated without motor. The abdominal surgical space maker is a foldable structure that can be folded in a tube and inserted into the patient's abdominal wall to expand and create space.

Computer-integrated Surgery

Author : Russell H. Taylor
Publisher : MIT Press
ISBN 13 : 9780262200974
Total Pages : 790 pages
Book Rating : 4.2/5 (9 download)

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Book Synopsis Computer-integrated Surgery by : Russell H. Taylor

Download or read book Computer-integrated Surgery written by Russell H. Taylor and published by MIT Press. This book was released on 1996 with total page 790 pages. Available in PDF, EPUB and Kindle. Book excerpt: In Computer-Integrated Surgery leading researchers and clinical practitioners describe the exciting new partnership that is being forged between surgeons and machines such as computers and robots, enabling them to perform certain skilled tasks better than either can do alone.The 19 chapters in part I, Technology, explore the components -- registration, basic tools for surgical planning, human-machine interfaces, robotic manipulators, safety -- that are the basis of computer-integrated surgery. These chapters provide essential background material needed to get up to speed on current work as well as a ready reference for those who are already active in the field.The 39 chapters in part II, Applications, cover eight clinical areas -- neurosurgery, orthopedics, eye surgery, dentistry, minimal access surgery, ENT surgery, craniofacial surgery, and radiotherapy -- with a concluding chapter on the high-tech operating room. Each section contains a brief introduction as well as at least one "requirements and opportunities" chapter written by a leading clinician in the area under discussion.