Design of a minimally invasive surgical teleoperated master-slave system with haptic feedback

Author

Van den Bedem, Linda ; Hendrix, Ron ; Rosielle, Nick ; Steinbuch, Maarten ; Nijmeijer, Henk

Author_Institution

Dept. of Mech. Eng., Tech. Univ. Eindhoven, Eindhoven, Netherlands

fYear

2009

fDate

9-12 Aug. 2009

Firstpage

60

Lastpage

65

Abstract

Conventional Minimally Invasive Surgery (MIS) is performed with long and slender camera and instruments through at least three small incisions. However, it generally provides the surgeon with an uncomfortable body posture, limited force feedback and unnatural eye-hand-coordination. A master-slave system with force feedback is being developed, since such a system can overcome the inconveniences of MIS. This paper is about the design of the master and the slave.

Keywords

force feedback; haptic interfaces; manipulators; medical robotics; surgery; telerobotics; body posture; eye-hand coordination; force feedback; haptic feedback; minimally invasive surgical teleoperated master-slave system; Control systems; Endoscopes; Force feedback; Grippers; Haptic interfaces; Master-slave; Minimally invasive surgery; Seals; Surges; Surgical instruments; Teleoperation; design; haptic feedback; master-slave; minimally invasive surgery;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, 2009. ICMA 2009. International Conference on

Conference_Location

Changchun

Print_ISBN

978-1-4244-2692-8

Electronic_ISBN

978-1-4244-2693-5

Type

conf

DOI

10.1109/ICMA.2009.5246502

Filename

5246502