Title :
A force reflective master-slave system for minimally invasive surgery
Author :
Tavakoli, M. ; Patel, R.V. ; Moallem, M.
Author_Institution :
Dept. of Electr. & Comput. Eng., Univ. of Western Ontario, London, Ont., Canada
Abstract :
Minimally invasive surgery involves inserting special instruments into the body cavity through tiny incisions in order to perform surgical procedures. In this paper, the design of a robotic master-slave system for use in minimally invasive surgery is discussed. This system is capable of providing haptic feedback to the surgeon in all available degrees of freedom. System design as well as master and slave bilateral control and communication issues are discussed.
Keywords :
force control; force feedback; haptic interfaces; medical robotics; position control; surgery; telerobotics; bilateral control; degrees of freedom; force reflective master-slave system; haptic feedback; minimally invasive surgery; robotic master-slave system; surgeon; Force feedback; Haptic interfaces; Hospitals; Master-slave; Medical robotics; Minimally invasive surgery; Pain; Robots; Surges; Surgical instruments;
Conference_Titel :
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7860-1
DOI :
10.1109/IROS.2003.1249629
