Calcified coronary arteries can cause severe cardiac problems and may provoke an infarction of the heart’s wall. An established treatment method is the bypass operation. The usage of a telemanipulation system allows for the execution of that operation as a totally endoscopic coronary artery bypass (TECAB) grafting. This relatively new method narrows the surgeon’s view and does not permit the pa...

This paper presents analytical and experimental results on a new hybrid tele-manipulation environment for micro-robot control under nonholonomic constraints. This environment is comprised of a haptic telemanipulation subsystem (macro-scale motion), and a visual servoing subsystem, (micro-scale motion) under the microscope. The first subsystem includes a 5-dof (degrees of freedom) force feedback...

Haptic virtual fixtures are software-generated force and position signals applied to human operators in order to improve the safety, accuracy, and speed of robot-assisted manipulation tasks. Virtual fixtures are effective and intuitive because they capitalize on both the accuracy of robotic systems and the intelligence of human operators. In this paper, we discuss the design, analysis, and impl...

The control feel of the master controller in a telemanipulation system has a critical effect on human-machine system performance. Many theoretical and practical human factors issues on hand controller design and selection remain to be explored. In this paper, two types of hand controllers, elastic versus isometric rate controllers, were studied in a 6 degree-of-freedom pursuit tracking experime...

Haptic interfaces that represent force and tactile feeling have been utilized in the areas of telemanipulation, interaction with microscale and nanoscale phenomena, and medical training and evaluation, to mention only some applications. A multi-fingered haptic interface has greater potential for these kinds of applications than does a singlepoint haptic interface. We developed a five-fingered h...

In this paper, teleoperation controller design for haptic exploration and telemanipulation of soft environments is studied. First, a new measure for fidelity in teleoperation is introduced which quantifies the teleoperation system’s ability to transmit changes in the compliance of the environment. This sensitivity function is appropriate for the application of telesurgery, where the ability to ...

OBJECTIVES Laparoscopic surgery in general is handicapped by the reduction of the range of motion from six to four degrees of freedom. This has a major impact on technically difficult procedures such as laparoscopic radical prostatectomy. Solutions for this problems include the understanding of the geometry of laparoscopy with sophisticated training programs, but lie also in newly developed sur...

Abstract Haptic feedback is typically missing during telemanipulation of surgical robots in minimally invasive surgeries, i.e., surgeons cannot feel the interaction forces between instruments and tissues. Instead, have to solely rely on visual feedback, which increases complexity guiding poses safety threat unperceivable contacts outside field view. We propose a novel series elastic actuation d...

This paper presents an integrated mapping of motion and visualization scheme based on a Mixed Reality (MR) subspace approach for the intuitive immersive telemanipulation robotic arm-hand systems. The effectiveness different control-feedback methods teleoperation system is validated compared. consists 6 Degrees-of-Freedom (DOF) industrial manipulator low-cost 2-finger gripper, which can be manip...

Exoskeleton robots found application in neurorehabilitation, telemanipulation, and power augmentation. The human–robot attachment system of an exoskeleton should transmit all the interaction forces while keeping anatomical robotic joint axes aligned. Existing concepts were bounding performance modern exoskeletons due to insufficient stiffness for high-performance force control, time-consuming a...