For practical application of force feedback in robotassisted surgical systems, it may not be possible to match the number of degrees of freedom of position sensing and control with the degrees of freedom of force sensing and feedback. The goal of this experimental study is to determine the effect of such sensor/actuator asymmetry during bilateral telemanipulation. We examined the performance of...

Sensorimotor systems face complex and frequent discrepancies among spatial modalities, for example, growth, optical distortion, and telemanipulation. Adaptive mechanisms must act continuously to restore perceptual-motor alignments necessary for perception of a coherent world. Experimental manipulations that exposed participants to localized discrepancies showed that adaptation is revealed by th...

Machine learning is increasingly used to autonomously adapt brain-machine interfaces to user-specific brain patterns. In order to minimize the preparation time of the system, it is highly desirable to reduce the length of the calibration procedure, during which training data is acquired from the user, to a minimum. One recently proposed approach is to reuse models that have been trained in hist...

We describe a new tactile display for use in dexterous telemanipulation and virtual reality. Our system renders the changing location of a remote or virtual contact by moving a tactile element along the user’s fingertip. Mounted at the endpoint of a haptic mechanism, our thimble-sized device concurrently displays contact location and interaction forces. We believe such a design will enable more...

Objective: Recently, robots have been introduced into surgical procedures in an attempt to facilitate surgical performance. The purpose of this study was to develop a technique to perform thoracoscopic lung resection using a telemanipulation system. Methods: We have used a robotic system to perform thoracoscopic surgery in 12 cases: five lobectomies, three tumor enucleations, three excisions an...

Teleoperation systems have been developed in order to manipulate objects in environments where the presence of humans is impossible, dangerous or less effective. One of the most attractive applications is micro telemanipulation with micropositioning actuators. Due to the sensitivity of this operation, task performance should be accurately considered. The presence of force signals in the control...

Robotic totally endoscopic coronary artery bypass (TECAB) is a minimally invasive endoscopic surgical approach using the daVinci robotic telemanipulation system to perform coronary artery bypass grafting on the arrested or beating heart. It is a procedure that can be a useful alternative to the classic open procedure performed through sternotomy. After extensive modeling in cadavers, the first ...

Background: The current study reviews clinical feasibility experiences evaluating safety and efficacy of using robotic assistance to create a left internal mammary artery to left anterior descending artery (LIMA-to-LAD) anastomosis. Methods: Between August and November 1999, 9 patients (aged 54-73 years) underwent robotically assisted endoscopic coronary artery bypass grafting (E-CABG) after in...

In control design for bilateral telemanipulation there is a trade-off between high transparency and sufficient stability margins. Stability problems can occur when the stiff slave manipulator encounters a stiff environment and large contact forces are fed back to the badly damped master giving oscillative behaviour in the teleoperator. This is the case for the research project presented in this...

ÐIn this paper, we propose a novel method to register two or more optical images to a 3D surface model. The potential applications of such a registration method could be in medicine; for example, in image guided interventions, surveillance and identification, industrial inspection, computer assisted manufacture, computer assisted maintenance, or telemanipulation in remote or hostile environment...