Nowadays, one of the main problems encountered in minimally invasive surgery and telesurgery is the detection of arteries in tissue. In this study, for the first time, tactile detection of an artery in tissue and distinguishing it from the tumor has been modeled by finite element method. In this modeling, three 2D models of tissue have been created: tissue, tissue including a tumor, and tissue ...

Haptic systems are increasingly being used in various applications such as virtual training, remote presence, and telesurgery. Human perception characteristics play a major role in the design of perceptual compression methods for haptic systems. However, the performance of these methods is jeopardized when packet loss occurs in the network. This study presents a packet loss resilient perceptual...

This paper reports our efforts to develop an integrated system for telesurgery of the throat and upper airway. The system is described while focusing on the novel design of its slave robot. The slave robot is a 3-armed robot that implements novel Distal Dexterity Units (DDU’s). These DDU’s are dexterous robots for surgical tool manipulation and suturing in confined spaces. Each DDU is composed ...

Multidomal telepresence systems have been used in remote or hazardous environments, such as telesurgery, orbit or underwater teleoperation, etc. (Ballantyne, 2002; Draper et al., 1998; Hirzinger et al., 1993). In a typical teleoperation task, local action commands are transmitted to a remote teleoperator, which then executes the commands and sends back multimodal sensory information, such as vi...

Abstracz This paper addresses the modeling and control of a compliant micromanipulator for use in such$elh as microsurgery, telesurgery, and microassembly, The unique flexure-based manipulator utilizes revolute flexure joints in achieving well-behaved kinematic characteristics, without the backlash and stick-slip phenomena that would otherwise impede precision control. A mathematical model of t...

Many methods for microvascular anastomoses exist, including use of magnifying loupes (x 2.5, x 3.5, x 4.5, x 6), but the operating microscope remains the gold standard. The authors present the da Vinci Surgical System (Intuitive Surgical, Sunnyvale, CA) as an alternative method for performing microvascular anastomoses. The da Vinci robot has fully articulating microinstruments with six degrees ...

Kipnis's fictional account of the televised treatment of Elaine Robbins clearly shows the surgeon's negligence (Kipnis 2011). The problems with Anodyne's support for the telesurgery breakfast are harder to discern, but show up clearly when we take into consideration how surgical evidence is generated, evaluated, and used by surgeons. Current evidentiary practices in surgery have two major weakn...

The advantages of surgical robots and manipulators are well recognised in the clinical and technical community. Precision, accuracy and the potential for telesurgery are the prime motivations in applying advanced robot technology in surgery. In this paper a magnetic resonance compatible surgical assist robot design and construction are described. The robot is designed to position and direct an ...

Haptic feedback is one of the missing links in robotized minimally invasive telesurgery. The teleoperation controllers are optimized so as to offer the surgeon a reliable perception of the stiffness of soft tissue, rather than following the traditional approach where tracking and force reflection fidelity are considered. The experimental results show that optimization allows for better focus on...

Low delay video transmission is becoming increasingly important. Delay critical, video enabled applications range from teleoperation scenarios such as controlling drones or telesurgery to autonomous control through computer vision algorithms applied on real-time video. To judge the quality of the video transmission in such a system, it is important to be able to precisely measure the end-to-end...