Bilateral control of a teleoperator for soft tissue palpation: Design and experiments

被引：16
作者：
Tavakoli, M. [1 ,2 ]
Patel, R. V. [1 ,2 ]
Moallem, M. [1 ,2 ]
机构：
[1] Univ Western Ontario, CSTAR, London, ON N6A 5B9, Canada
[2] Univ Western Ontario, Dept Elect & Comp Engn, London, ON N6A 5B9, Canada
来源：
2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10 | 2006年
基金：
加拿大自然科学与工程研究理事会;
关键词：
D O I：
10.1109/ROBOT.2006.1642202
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In robot-assisted interventions, providing a surgeon with haptic information regarding contacts made between surgical instruments and tissue can improve task performance and reliability. In this paper, a force-reflective user interface is used with a sensorized surgical instrument to form a master-slave test-bed for studying haptic interaction in a soft-tissue endoscopic surgery environment. After modeling and parametric identification of the the master and the slave, bilateral controllers are designed and teleoperation experiments involving a single degree of freedom surgical task on soft tissue (palpation) are conducted. The transparency of the teleoperator in terms of transmitting the critical task-related information to the user in the context of soft-tissue surgical applications is investigated.
引用
收藏
页码：3280 / +
页数：2
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