5 accepted papers
Robotic surgery has revolutionized minimally invasive procedures by offering enhanced precision, dexterity, and patient outcomes. However, the training and operational paradigms in robotic surgery have not evolved in parallel. Current apprenticeship models fall short in this domain, as robotic surge…
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…
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)…