Dexterity-enhanced telerobotic microsurgery

Author

Charles, Steve ; Das, Hari ; Ohm, Timothy ; Boswell, Curtis ; Rodriguez, Guillermo ; Steele, Robert ; Istrate, Dan

Author_Institution

MicroDexterity Syst. Inc., Memphis, TN, USA

fYear

1997

fDate

7-9 Jul 1997

Firstpage

5

Lastpage

10

Abstract

A telerobotic platform developed in a collaboration between NASA-JPL and MicroDexterity Systems, Inc (MDS) is described in this paper. The lightweight, compact 6 dof master-slave system is precise to better than 10 microns and can cover a workspace greater than 400 cubic centimeters. Current capabilities of the system include manual position control with augmented shared control modes and automatic modes of control of the robot. Simulated force feedback on the master device has been implemented and plans are to integrate force reflection from the slave end effector and evaluate the performance improvements enabled by the telerobot in simulated microsurgical tasks. The telerobot was used in a recent demonstration of a simulated eye microsurgical procedure

Keywords

feedback; force control; manipulators; micromechanical devices; surgery; telerobotics; augmented shared control modes; dexterity-enhanced telerobotic microsurgery; force reflection; lightweight compact 6-DOF master-slave system; manual position control; simulated eye microsurgical procedure; simulated force feedback; slave end effector; Automatic control; Collaborative work; Control systems; Force feedback; Master-slave; Microsurgery; Position control; Robot control; Surgery; Telerobotics;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Robotics, 1997. ICAR '97. Proceedings., 8th International Conference on

Conference_Location

Monterey, CA

Print_ISBN

0-7803-4160-0

Type

conf

DOI

10.1109/ICAR.1997.620154

Filename

620154