Shared control of a medical robot with haptic guidance.

Journal: International journal of computer assisted radiology and surgery
Published Date: Jun 17, 2016

Abstract

PURPOSE: Tele-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.

Authors

  • Linfei Xiong
    Center of Robotics and Intelligent Machine, Chongqing Institute of Green and Intelligent Technology, Chinese Academy of Science, No. 266 Fangzhen Road, Beibei District, Chongqing, 400714, China. linfei_x@outlook.com.
  • Chin Boon Chng
    Mechanical Engineering, National University of Singapore, Singapore, Singapore.
  • Chee Kong Chui
    Mechanical Engineering, National University of Singapore, Singapore, Singapore. mpecck@nus.edu.sg.
  • Peiwu Yu
    Department of General Surgery and Center of Minimal Invasive Gastrointestinal Surgery, Southwest Hospital, The Third Military Medical University, Gaotanyan Street, Chongqing, 400038, China. yupeiwu01@sina.com.
  • Yao Li
    Center of Robotics and Intelligent Machine, Chongqing Institute of Green and Intelligent Technology, Chinese Academy of Science, No. 266 Fangzhen Road, Beibei District, Chongqing, 400714, China.

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