Title :
A laparoscopic telesurgical workstation
Author :
M.C. Cavusoglu;F. Tendick;M. Cohn;S.S. Sastry
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
Abstract :
In this paper, various aspects of robotic telesurgery are studied. After a general introduction to laparoscopic surgery and medical applications of robotics, the UC Berkeley/Endorobotics Inc./UC San Francisco Telesurgical Workstation, a master-slave telerobotic system for laparoscopic surgery, is introduced, followed by its kinematic analysis, control, and experimental results. Some conceptual and future issues on telesurgery are discussed, including teleoperation and hybrid control, focusing on the special requirements of telesurgery.
Keywords :
"Laparoscopes","Workstations","Medical robotics","Minimally invasive surgery","Medical control systems","Medical services","Biomedical equipment","Master-slave","Telerobotics","Kinematics"
Journal_Title :
IEEE Transactions on Robotics and Automation
