Title :
Analysis of haptic feedback performances in telesurgery robotic systems
Author :
Sallé, D. ; Gosselin, F. ; Bidaud, Ph ; Gravez, Ph.
Author_Institution :
Lab. de Robotique de Paris, Univ. Pierre et Marie Curie, Velizy, France
Abstract :
We consider the problem of force/displacement feedback fidelity in a telesurgery robotic system. This problem is analysed by simulations based on the characteristics of a real system. Data about tissue behaviour have been extracted from various mechanical tests carried out on a pig heart. The preliminary results reported here clearly show how friction limits the surgeon´s haptic perception
Keywords :
haptic interfaces; medical robotics; surgery; telemedicine; telerobotics; displacement feedback fidelity; force feedback fidelity; haptic feedback performances; haptic perception; mechanical tests; minimally invasive surgery; pig heart; telesurgery robotic systems; tissue behaviour; Analytical models; Data mining; Force feedback; Friction; Haptic interfaces; Heart; Performance analysis; Robots; Surges; Testing;
Conference_Titel :
Robot and Human Interactive Communication, 2001. Proceedings. 10th IEEE International Workshop on
Conference_Location :
Bordeaux, Paris
Print_ISBN :
0-7803-7222-0
DOI :
10.1109/ROMAN.2001.981973
