Haptic interaction in robot-assisted endoscopic surgery: a sensorized end-effector.
نویسندگان
چکیده
Conventional endoscopic surgery has some drawbacks that can be addressed by using robots. The robotic systems used for surgery are still in their infancy. A major deficiency is the lack of haptic feedback to the surgeon. In this paper, the benefits of haptic feedback in robot-assisted surgery are discussed. A novel robotic end-effector is then described that meets the requirements of endoscopic surgery and is sensorized for force/ torque feedback. The endoscopic end-effector is capable of non-invasively measuring its interaction with tissue in all the degrees of freedom available during endoscopic manipulation. It is also capable of remotely actuating a tip and measuring its interaction with the environment without using any sensors on the jaws. The sensorized end-effector can be used as the last arm of a surgical robot to incorporate haptic feedback and/or to evaluate skills and learning curves of residents and surgeons in endoscopic surgery.
منابع مشابه
Endo[PA]R: An Open Evaluation System for Minimally Invasive Robotic Surgery
EndoPAR (Endoscopic Partial-Autonomous Robot) is an open experimental platform for robot assisted minimally invasive heart surgery with haptic feedback. The manipulator set-up is composed of two low-payload robots equipped with sensorized surgical instruments and a third robot carrying a stereo camera system. Trocar kinematics, enabling surgical manipulation through small incisions, has been im...
متن کاملThe Concept and Implementation of a Passive Trajectory Enhancing Robot
A novel controlled passive device is described which allows its end effector to be pushed only along a speGified but arbitrary path. The force to move the end effector must be provided by an external source such as a human, gravity, or fluid flow. Possible applications include computer assisted surgery, haptic displays, exercise machines, and teleoperator masters. Advantages of the passive appr...
متن کاملSensorized and Actuated Instruments for Minimally Invasive Robotic Surgery
Minimally invasive surgery (MIS) challenges the surgeon’s skills due to his separation from the operation area which can be reached with long instruments only. To overcome the drawbacks of conventional MIS robotic surgery systems with integrated haptic feedback play an important role. This paper describes the development of actuated and sensorized instruments for minimally invasive robotic surg...
متن کاملRobotic System to Evaluate Force Feedback in Minimally Invasive Computer Aided Surgery
We present an experimental system for robot assisted, minimally invasive surgery that is capable of force measurement and haptic feedback. While minimally invasive surgery with robots provides several advantages like reduced tissue trauma and shorter recovery times, there are also some inherent shortcomings. Referring to surgeons, the most significant issue is the lack of haptic feedback. This ...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
- The international journal of medical robotics + computer assisted surgery : MRCAS
دوره 1 2 شماره
صفحات -
تاریخ انتشار 2005