DocumentCode
3089447
Title
Design issues in a haptics-based master-slave system for minimally invasive surgery
Author
Tavakoli, M. ; PateI, R.V. ; Moallem, M.
Author_Institution
Dept. of Electr. & Comput. Eng., Western Ontario Univ., London, Ont., Canada
Volume
1
fYear
2004
fDate
26 April-1 May 2004
Firstpage
371
Abstract
Minimally invasive surgery (MIS) is an alternative to open surgery where special instruments are inserted into the body cavity through tiny incisions in order to perform surgical procedures. In this work, some design issues in a master-slave robotic system for use in MIS are discussed. First, we discuss the design of a user interface that can be used to incorporate haptic interaction in robot-assisted MIS. Then we discuss the design of a laparoscopic end effector that meets MlS requirements and is instrumented for haptic feedback.
Keywords
end effectors; haptic interfaces; medical computing; medical robotics; satellite computers; surgery; haptic interaction; laparoscopic end effector; master-slave robotic system; minimally invasive surgery; user interface; End effectors; Feedback; Haptic interfaces; Laparoscopes; Master-slave; Minimally invasive surgery; Multilevel systems; Robots; Surgical instruments; User interfaces;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-8232-3
Type
conf
DOI
10.1109/ROBOT.2004.1307178
Filename
1307178
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