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Prototyping a Hybrid Cooperative and Tele-robotic Surgical System for Retinal Microsurgery
|Please use this identifier to cite or link to this publication: http://hdl.handle.net/10380/3286|
Published in The MIDAS Journal - Systems and Architectures for Computer Assisted Interventions 2011.
Submitted by Marcin Balicki on 06-15-2011.
This paper presents the design of a tele-robotic microsurgical platform designed for development of cooperative and tele-operative control schemes, sensor based smart instruments, user interfaces and new surgical techniques with eye surgery as the driving application. The system is built using the distributed component-based cisst libraries and the Surgical Assistant Workstation framework. It includes a cooperatively controlled EyeRobot2, a da Vinci Master manipulator, and a remote stereo visualization system. We use constrained optimization based virtual fixture control to provide Virtual Remote-Center-of-Motion (vRCM) and haptic feedback. Such system can be used in a hybrid setup, combining local cooperative control with remote tele-operation, where an experienced surgeon can provide hand-over-hand tutoring to a novice user. In another scheme, the system can provide haptic feedback based on virtual fixtures constructed from real-time force and proximity sensor information.
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|Keywords:||Eye Surgery, Teleoperation, Cooperative Control, Virtual Fixtures, Medical Robotics, Stereo Visualization, Haptics, Distributed Surgical System|
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