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

Author

Tavakoli, M. ; Patel, R.V. ; Moallem, M.

Author_Institution

Dept. of Electr. & Comput. Eng., Univ. of Western Ontario, London, Ont.

fYear

2006

fDate

15-19 May 2006

Firstpage

3280

Lastpage

3285

Abstract

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 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

Keywords

biological tissues; endoscopes; medical robotics; parameter estimation; surgery; telerobotics; user interfaces; bilateral control; force-reflective user interface; haptic interaction; master-slave test-bed; parametric identification; robot-assisted interventions; soft tissue palpation; soft-tissue endoscopic surgery; surgical instruments; teleoperator; Biological tissues; Haptic interfaces; Master-slave; Robot sensing systems; Surgery; Surges; Surgical instruments; Teleoperators; Testing; User interfaces;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on

Conference_Location

Orlando, FL

ISSN

1050-4729

Print_ISBN

0-7803-9505-0

Type

conf

DOI

10.1109/ROBOT.2006.1642202

Filename

1642202