The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
A teleoperated minimally invasive surgical system was implemented for laparoscopic surgery. The surgical manipulator has upper and lower arms akin to a human arm and has an elbow joint as an additional DoF joint. A remote controller was developed to measure the human arm position and deliver the angle data of the human arm to the surgical manipulator by TCP/IP communication. The human elbow angle...
This paper discusses about a haptic communication system. Recently the haptic information is attracted attention as the third sense of communication information. And the real world haptics is the key technology for the haptic communication. However, the present approach of the teleoperation system postulates that human touches the remote object via the device like as the remote surgery. Considering...
In robot-assisted surgery, haptic feedback is ongoing issue. The breaking of surgical suture material and the damage of tissue are avoidable with haptic feedback. This paper is proposing to add haptic feedback in the da Vinci like robot using unmodified da Vinci surgical instrument. To overcome the restriction of space and difficulty in measuring the force at the end-effector, the torque sensor-motor...
In typical teleoperated surgeries, skilled staff are still necessary in the remote surgical room to change manipulator tooling and to manage surgical supply delivery and removal. This paper describes the development of a nurse robot to provide automated support to a teleoperated surgical manipulator system in environments where the presence of skilled surgical support staff may not be practical. The...
This paper introduces the planning and control software of a teleoperation system for research in minimally invasive robotic surgery. It addresses the problem of how to organize a complex system with 41 degrees of freedom as a flexible configurable platform. Robot setup planning, force feedback control and nullspace handling with three robotic arms are considered. The planning software is separated...
In order to make haptic feedback in teleoperation rehabilitation robot system or to assist the object's movement, recognition the intended movement of an object is required. In this paper, we establish the relation between the electromyography (EMG) signal of some specified hu.man arm's muscles and the moment of corresponding arm's joints. The model and the parameter calibration process are simple...
The use of thin and lightweight arms and cable-driven end-effectors in space and surgical manipulators introduces link and/or joint flexibility. When such manipulators are used as the slave robot of a master-slave teleoperation system, teleoperation performance can be degraded. We report a comparison of teleoperation system performances under slave robot link and joint flexibility (tool flexibility)...
The tele-operated system with three arms for the microsurgery of the middle ear is composed of an operator console from where the surgeon tele-operates three robotized arms that hold surgery tools with a high level of accuracy. The main difference between these micromanipulators and the conventional minimally-invasive surgery robots is the increased field of vision capacity to carry out complex operational...
This paper evaluates and improves the capability of the endoscopic surgical robot AESOP (ComputerMotion Inc., Goleta, CA, USA) to carry out tasks autonomously. First, the Cartesian position accuracy of the robot is measured using an optical tracking system. Since the obtained results are not satisfactory, the tracking system is then used to correct the position of the robot. Two approaches are presented:...
This paper proposes a novel methodology for the control of prosthetic arms. The proposed controller predicts the intended forces at the tip of the prosthetic arm using an artificial neural network fed with electromyogram signals from the residual arm muscles and kinematic data from the prosthetic arm joint. The desired predicted force is then implemented at the prosthetic arm tip using a classic robot...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.