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
fDate :
26 April-1 May 2004
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;
Conference_Titel :
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
Print_ISBN :
0-7803-8232-3
DOI :
10.1109/ROBOT.2004.1307178
