Design issues in a haptics-based master-slave system for minimally invasive surgery

被引：30
|
作者：
Tavakoli, M [1 ]
Patel, R [1 ]
Moallem, M [1 ]
机构：
[1] Univ Western Ontario, CSTAR, London, ON N6A 5B9, Canada
来源：
2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS | 2004年
关键词：
D O I：
10.1109/ROBOT.2004.1307178
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Minimally invasive surgery (MIS) is an alternative to open surgery where special instruments are inserted into the body cavity through tiny incisions in order to perform surgical procedures. In this paper, some design issues in a master-slave robotic system for use in MIS are discussed. First, we discuss the design of a user interface that can be used to incorporate haptic interaction in robot-assisted MIS. Then we discuss the design of a laparoscopic end effector that meets MIS requirements and is instrumented for haptic feedback.
引用
收藏
页码：371 / 376
页数：6
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