A Multielement Tactile Feedback System for Robot-Assisted Minimally Invasive Surgery

被引：51

作者：

King, Chih-Hung ^{[1
,2
]}

Culjat, Martin O. ^{[1
,3
]}

Franco, Miguel L. ^{[1
,2
]}

Bisley, James W. ^{[1
,4
,5
]}

Carman, Gregory P. ^{[1
,2
,6
]}

Dutson, Erik P. ^{[1
,3
]}

Grundfest, Warren S. ^{[1
,2
,3
]}

机构：

[1] CASIT, Los Angeles, CA USA

[2] Univ Calif Los Angeles, Biomed Engn IDP, Los Angeles, CA 90095 USA

[3] Univ Calif Los Angeles, Dept Surg, Los Angeles, CA 90095 USA

[4] Univ Calif Los Angeles, Biomed Engn IDP, Los Angeles, CA 90025 USA

[5] Univ Calif Los Angeles, Dept Neurobiol, Los Angeles, CA 90025 USA

[6] Univ Calif Los Angeles, Dept Mech & Aerosp Engn, Los Angeles, CA 90095 USA

来源：

IEEE TRANSACTIONS ON HAPTICS | 2009年 / 2卷 / 01期

关键词：

Surgical robotics; tactile display; haptic system design and analysis; robotic minimally invasive surgery; haptic perception; haptic real-time control; tactile feedback; haptic human performance; telemanipulation; SIMULATION; PROTOTYPE; GRASPER;

D O I：

10.1109/ToH.2008.19

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

A multielement tactile feedback (MTF) system has been developed to translate the force distribution, in magnitude and position, from 3 x 2 sensor arrays on surgical robotic end effectors to the fingers via 3 x 2 balloon tactile displays. High detection accuracies from perceptual tests (> 96 percent) suggest that MTF may be an effective means to improve robotic control.

引用

页码：52 / 56

页数：5

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