• DocumentCode
    3861556
  • 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
  • Volume
    15
  • Issue
    4
  • fYear
    1999
  • Firstpage
    728
  • Lastpage
    739
  • 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
  • Publisher
    ieee
  • ISSN
    1042-296X
  • Type

    jour

  • DOI
    10.1109/70.782027
  • Filename
    782027
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3861556