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Control Of Cooperative Haptics-Enabled Teleoperation Systems With Application To Minimally Invasive Surgery, Amir Takhmar
Control Of Cooperative Haptics-Enabled Teleoperation Systems With Application To Minimally Invasive Surgery, Amir Takhmar
Electronic Thesis and Dissertation Repository
Robot-Assisted Minimally Invasive Surgical (RAMIS) systems frequently have a structure of cooperative teleoperator systems where multiple master-slave pairs are used to collaboratively execute a task. Although multiple studies indicate that haptic feedback improves the realism of tool-tissue interaction to the surgeon and leads to better performance for surgical procedures, current telesurgical systems typically do not provide force feedback, mainly because of the inherent stability issues. The research presented in this thesis is directed towards the development of control algorithms for force reflecting cooperative surgical teleoperator systems with improved stability and transparency characteristics. In the case of cooperative force reflecting teleoperation …
Haptics-Enabled Teleoperation For Robotics-Assisted Minimally Invasive Surgery, Ali Talasaz
Haptics-Enabled Teleoperation For Robotics-Assisted Minimally Invasive Surgery, Ali Talasaz
Electronic Thesis and Dissertation Repository
The lack of force feedback (haptics) in robotic surgery can be considered to be a safety risk leading to accidental tissue damage and puncturing of blood vessels due to excessive forces being applied to tissue and vessels or causing inefficient control over the instruments because of insufficient applied force. This project focuses on providing a satisfactory solution for introducing haptic feedback in robotics-assisted minimally invasive surgical (RAMIS) systems. The research addresses several key issues associated with the incorporation of haptics in a master-slave (teleoperated) robotic environment for minimally invasive surgery (MIS). In this project, we designed a haptics-enabled dual-arm (two …