Free register and download UseNet downloader, then you can FREE Download from UseNet.

    Download without Limit " Haptics For Teleoperated Surgical Robotic Systems " from UseNet for FREE!

Haptics For Teleoperated Surgical Robotic Systems
World Scientific Publishing Company | 2008-04-14 | ISBN: 9812813152 | 180 pages | PDF | 17,2 MB
An important obstacle in Minimally Invasive Surgery (MIS) is the significant degradation of haptic feedback (sensation of touch) to the surgeon about surgical instrument s interaction with tissue. This monograph is concerned with devices and methods required for incorporating haptic feedback in master-slave robotic MIS systems. In terms of devices, novel mechanisms are designed including a surgical end-effector (slave) with full force sensing capabilities and a surgeon-robot interface (master) with full force feedback capabilities. Using the master-slave system, various haptic teleoperation control schemes are compared in terms of stability and performance, and passivity-based time delay compensation for haptic teleoperation over a long distance is investigated. The monograph also compares haptic feedback with visual feedback and with substitution for haptic feedback by other sensory cues in terms of surgical task performance.
Contents: Introduction; Sensorized Surgical Effector (Slave); Haptic User Interface (Master); Unilateral Teleoperation Control; Bilateral Teleoperation Control; Substitution for Haptic Feedback: Bilateral Teleoperation Control Under Time Delay.
Download

Related Articles:
Haptics   Robotic   Surgical   Systems