This paper deals with the evaluation of human biofeedbackresponse in virtual reality and in direct view. The experiments havebeen performed with a new paradigm for the evaluation of humanbiofeedback during the telemanipulation performance of a touch task.The controlled motion of one finger is monitored with the surface EMG,while a mechanical robotized hand finger follows the...

Teleoperation is a widely adopted strategy to control robotic manipulators executing complex tasks that require highly dexterous movements and critical high-level intelligence. Classical teleoperation schemes are based on either joystick control, or more intuitive interfaces which map directly the user arm motions into one robot arm's motions. These approaches have limits when execution of give...

OBJECTIVE To detail robotic procedure development and clinical applications for mitral valve, biliary, and gastric reflux operations, and to implement a multispecialty robotic surgery training curriculum for both surgeons and surgical teams. SUMMARY BACKGROUND DATA Remote, accurate telemanipulation of intracavitary instruments by general and cardiac surgeons is now possible. Complex technolog...

Passivity concept has been using as a framework to solve the stability problem in bilateral control of telemanipulation. However, the conservative selection of dissipating element applied to maintain system stability in network communication leads the system to imperfect operation or losing transparency. In this paper, we proposed a new control scheme to adapt characteristic impedance with time...

In this paper a robotic system for the application in head and spinal surgery is described. The system, developed at the Surgical Robotics Lab (SRL), is distinguished from other systems by the complete interactive control by the surgeon. From the viewpoint of telemanipulation it can be interpreted as a combined master/slave manipulator. This system has already been applied clinically in maxillo...

Beyond current laparoscopic surgery is the emergence of robotic surgery. The power of this type of surgery is converting both vision and hand motions into electronic signals (video and telemanipulation), which completes the transition of surgery from the Industrial Age to the Information Age. Other advances include replacing scrub and circulation nurses with robots, miniaturization, biosurgery,...

EXOSTATION is an ESA-funded project aiming at developing a complete haptic control chain. The demonstrator is composed of a 7-DOF portable arm exoskeleton master, controlling an anthropomorphic slave robot interacting with its working environment. This system is meant to be used in telemanipulation and telepresence modes (master/slave control), making it usable in many applications including sp...

We describe a new tactile sensor for use in dexterous manipulation and telemanipulation. The sensor consists of an array of curvature-measuring elements embedded in a compliant membrane. The resulting sensor is inexpensive and robust, and can be used in robotic hands with soft fingertips for object handling and exploration. The curvature measurements provide information for manipulation plannin...

Development of robotic technology has enabled totally endoscopic coronary artery bypass grafting (TECAB) procedures. With complete preservation of sternal and thoracic stability, this operation would be an interesting option for obese patients, who are known to be at higher risk for deep sternal wound infection. We describe a case of successful totally endoscopic left internal mammary artery to...

Traditionally, cardiac surgery has been performed by median sternotomy. However, a renaissance is occurring. Cardiac operations are being performed through smaller and alternative incisions with enhanced technological assistance. Both coronary artery bypass grafting and valve surgery can be accomplished with this novel methodology. Specifically, minimally invasive mitral valve surgery has becom...