Shared control of a medical robot with haptic guidance

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• 作者：Linfei Xiong ; Chin Boon Chng ; Chee Kong Chui…
• 关键词：Surgical robot ; Tele ; operative control ; Haptic guidance ; Anatomy ; based constraint
• 刊名：International Journal of Computer Assisted Radiology and Surgery
• 出版年：2017
• 出版时间：January 2017
• 年：2017
• 卷：12
• 期：1
• 页码：137-147
• 全文大小：
• 刊物主题：Imaging / Radiology; Surgery; Health Informatics; Computer Imaging, Vision, Pattern Recognition and Graphics; Computer Science, general;
• 出版者：Springer International Publishing
• ISSN：1861-6429
• 卷排序：12

文摘

PurposeTele-operation of robotic surgery reduces the radiation exposure during the interventional radiological operations. However, endoscope vision without force feedback on the surgical tool increases the difficulty for precise manipulation and the risk of tissue damage. The shared control of vision and force provides a novel approach of enhanced control with haptic guidance, which could lead to subtle dexterity and better maneuvrability during MIS surgery.