Title :
Towards a force-reflecting motion-scale system for microsurgery
Author :
Salcudean, S.E. ; Yan, J.
Author_Institution :
Dept. of Electr. Eng., British Columbia Univ., Vancouver, BC, Canada
Abstract :
This paper presents design aspects of a force-reflecting, motion-scaling teleoperation system for use in microsurgery experiments. A coarse-macro-micro approach is proposed. Two magnetically levitated wrists-a macro-master and a micro-slave-would share a common base positioned at the surgical site by a coarse-motion transport robot. The discussion includes features of the proposed system, a detailed slave wrist description, and aspects of coordination and control for the multistage teleoperation
Keywords :
biomedical equipment; force control; micromechanical devices; surgery; telerobotics; coarse-macro-micro approach; coarse-motion transport robot; control; coordination; force-reflecting motion-scale system; magnetically levitated wrists; microsurgery; multistage teleoperation; slave wrist; Force feedback; Humans; Magnetic levitation; Master-slave; Microsurgery; Robot kinematics; Robot sensing systems; Surgery; Surges; Wrist;
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
DOI :
10.1109/ROBOT.1994.350943
