Preliminary experiments in cooperative human/robot force control for robot assisted microsurgical manipulation

Kumar, Rajesh; Berkelman, Peter; Gupta, Puneet; Barnes, A.; Jensen, Patrick S.; Whitcomb, Louis L.; Taylor, Russell H.

doi:10.1109/robot.2000.844120

Cited by 67 publications

(40 citation statements)

References 23 publications

(8 reference statements)

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“…In such an operation, applying forces higher than the strength of the retina tissue, raises the risk of hemorrhage and retina tearing. Here, providing an amplified interaction force can allow the user to perceive and safely apply delicate forces that are traditionally interpreted solely from optical feedback [136] [137]. Balicki et al [138] demonstrated the efficacy of providing tool tip interaction force feedback, using force sensing instrument that incorporate fiber optic sensors into the distal portion of the instrument shaft located inside the eye.…”

Section: E Microsurgical Tasksmentioning

confidence: 99%

Haptics in Robot-Assisted Surgery: Challenges and Benefits

Enayati

Momi

Ferrigno

2016

IEEE Rev. Biomed. Eng.

202

131

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Abstract-Robotic surgery is transforming the current surgical practice, not only by improving the conventional surgical methods but also by introducing innovative robot-enhanced approaches that broaden the capabilities of clinicians. Being mainly of manmachine collaborative type, surgical robots are seen as media that transfer pre-and intra-operative information to the operator and reproduce his/her motion, with appropriate filtering, scaling, or limitation, to physically interact with the patient. The field, however, is far from maturity and, more critically, is still a subject of controversy in medical communities. Limited or absent haptic feedback is reputed to be among reasons that impede further spread of surgical robots. In this paper objectives and challenges of deploying haptic technologies in surgical robotics is discussed and a systematic review is performed on works that have studied the effects of providing haptic information to the users in major branches of robotic surgery. It has been tried to encompass both classical works and the state of the art approaches, aiming at delivering a comprehensive and balanced survey both for researchers starting their work in this field and for the experts.

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Section: E Microsurgical Tasksmentioning

confidence: 99%

Haptics in Robot-Assisted Surgery: Challenges and Benefits

Enayati

Momi

Ferrigno

2016

IEEE Rev. Biomed. Eng.

202

131

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“…Thus, every low frequency force, corresponding to the desired movement, is translated into displacement but every high frequency force corresponding to the tremors is blocked by the system. The result is a more accurate performance of simple gestures, such as the tracking of a straight line or a curve under the microscope [42] [43].…”

Section: E Other Robotsmentioning

confidence: 99%

Review of comanipulation robot in surgery

Zhan

Duan

2015

2015 IEEE International Conference on Mechatronics and Automation (ICMA)

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Interaction of human and robot (HRI) is the main problem that impacts the development of robot, especially the surgery robot. Comanipulation is a prime solution, with the novel feature of high backdrivability, high precision because of active constrain control. This paper introduces several comanipulation robots in surgery and summarizes the characteristics of each robot. The challenges and opportunities of comanipulation robots in the future are concluded.

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“…One of the interesting examples of using control for human-robot cooperation has been reported by Kumar et al 58 . The proposed method has been demonstrated with a robotic system for a micro-surgical manipulation system.…”

Section: Human-robot Interaction Using Compliancementioning

confidence: 99%

Compliance Control and Human–Robot Interaction: Part 1 — Survey

Khan

Herrmann

Grafi

et al. 2014

Int. J. Human. Robot.

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Compliance control is highly relevant to human safety in human–robot interaction (HRI). This paper presents a review of various compliance control techniques. The paper is aimed to provide a good background knowledge for new researchers and highlight the current hot issues in compliance control research. Active compliance, passive compliance, adaptive and reinforcement learning-based compliance control techniques are discussed. This paper provides a comprehensive literature survey of compliance control keeping in view physical human robot interaction (pHRI) e.g., passing an object, such as a cup, between a human and a robot. Compliance control may eventually provide an immediate and effective layer of safety by avoiding pushing, pulling or clamping in pHRI. Emerging areas such as soft robotics, which exploit the deformability of biomaterial as well as hybrid approaches which combine active and passive compliance are also highlighted.

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Preliminary experiments in cooperative human/robot force control for robot assisted microsurgical manipulation

Cited by 67 publications

References 23 publications

Haptics in Robot-Assisted Surgery: Challenges and Benefits

Haptics in Robot-Assisted Surgery: Challenges and Benefits

Review of comanipulation robot in surgery

Compliance Control and Human–Robot Interaction: Part 1 — Survey

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