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Haptics for teleoperated surgical robotic systems

Author: M Tavakoli
Publisher: Hackensack, NJ : World Scientific, ©2008.
Series: New frontiers in robotics, v. 1.
Edition/Format:   Print book : EnglishView all editions and formats
Summary:
"An important obstacle in Minimally Invasive Surgery (MIS) is the significant degradation of haptic feedback (sensation of touch) to the surgeon about surgical instrument's interaction with tissue. This monograph is concerned with devices and methods required for incorporating haptic feedback in master-slave robotic MIS systems. In terms of devices, novel mechanisms are designed including a surgical end-effector  Read more...
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Document Type: Book
All Authors / Contributors: M Tavakoli
ISBN: 9812813152 9789812813152
OCLC Number: 225820423
Description: xix, 158 pages : illustrations ; 24 cm.
Contents: Introduction --
Sensorized surgical effector (slave) --
Haptic user interface (master) --
Unilateral teleoperation control --
Bilateral teleoperation control --
Substitution for haptic feedback --
Bilateral teleoperation control under time delay --
Mechanical description of the slave --
Mechanical description of the master --
Kinematics and dynamics of the PHANToM haptic device --
1-DOF master system modeling and identification --
Virtual reality peripheral network --
t-Test and ANOVA.
Series Title: New frontiers in robotics, v. 1.
Responsibility: M. Tavakoli [and others].

Abstract:

Deals with devices and methods required for incorporating haptic feedback in master-slave robotic MIS systems. This monograph compares haptic teleoperation control schemes in terms of stability and  Read more...

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