6 accepted papers
Surgical automation requires precise guidance and understanding of the scene. Current methods in the literature rely on bulky depth cameras to create maps of the anatomy; however, this does not translate well to space-limited clinical applications. Monocular cameras are small and allow minimally inv
In this paper, we propose X-lateral teleoperation: a novel hybrid unilateral-bilateral teleoperation framework. Bilateral teleoperation enables kinesthetic coupling between the operator and the remote environment with haptic feedback. However, in free motion, unlike unilateral teleoperators, bilater…
The da Vinci surgical robot introduced remote control of instruments, providing surgeons with increased dexterity and precision. A major drawback, however, is the loss of sense of touch due to a lack of kinesthetic coupling between the surgical field and the surgeon. This paper presents a framework
Most current surgical robotic systems lack the ability to sense tool/tissue interaction forces, which motivates research in methods to estimate these forces from other available measurements, primarily joint torques. These methods require the internal joint torques, due to the robot inverse dynamics…
In this paper a hybrid method for estimation of 6 degree-of-freedom (DOF) laparoscopic instrument tip force/torques in robotic-assisted minimally invasive surgery systems is proposed. The method is implemented on an in-house developed hyper-redundant (11-DOF) surgical robotic forceps prototype. This…
This paper describes a novel sensorless force estimation algorithm for the rigid link parallel wrist mechanism of a robotic surgical instrument. The method utilizes novel reaction force observers (RFOB) in joint space, which are modified disturbance observers (DOB) combined with Neural Networks (NN)…