Haptics for teleoperated surgical robotic systems:
An important obstacle in Minimally Invasive Surgery (MIS) is the significant degradation of haptic feedback (sensation of touch) to the surgeon about surgical instrument's interaction with tissue. This monograph is concerned with devices and methods required for incorporating haptic feedback in...
Gespeichert in:
| Format: | Elektronisch E-Book |
|---|---|
| Sprache: | English |
| Veröffentlicht: |
Singapore
World Scientific Pub. Co.
c2008
|
| Schlagworte: | |
| Online-Zugang: | FHN01 Volltext |
| Zusammenfassung: | An important obstacle in Minimally Invasive Surgery (MIS) is the significant degradation of haptic feedback (sensation of touch) to the surgeon about surgical instrument's interaction with tissue. This monograph is concerned with devices and methods required for incorporating haptic feedback in master-slave robotic MIS systems. In terms of devices, novel mechanisms are designed including a surgical end-effector (slave) with full force sensing capabilities and a surgeon-robot interface (master) with full force feedback capabilities. Using the master-slave system, various haptic teleoperation control schemes are compared in terms of stability and performance, and passivity-based time delay compensation for haptic teleoperation over a long distance is investigated. The monograph also compares haptic feedback with visual feedback and with substitution for haptic feedback by other sensory cues in terms of surgical task performance |
| Beschreibung: | xix, 158 p. ill. (some col.) |
| ISBN: | 9812813160 9789812813169 |
Internformat
MARC
| LEADER | 00000nmm a2200000zc 4500 | ||
|---|---|---|---|
| 001 | BV044636340 | ||
| 003 | DE-604 | ||
| 005 | 00000000000000.0 | ||
| 007 | cr|uuu---uuuuu | ||
| 008 | 171120s2008 |||| o||u| ||||||eng d | ||
| 020 | |a 9812813160 |c electronic bk. |9 981-281-316-0 | ||
| 020 | |a 9789812813169 |c electronic bk. |9 978-981-281-316-9 | ||
| 024 | 7 | |a 10.1142/6816 |2 doi | |
| 035 | |a (ZDB-124-WOP)00001985 | ||
| 035 | |a (OCoLC)1012644294 | ||
| 035 | |a (DE-599)BVBBV044636340 | ||
| 040 | |a DE-604 |b ger |e aacr | ||
| 041 | 0 | |a eng | |
| 049 | |a DE-92 | ||
| 082 | 0 | |a 610.284 |2 22 | |
| 245 | 1 | 0 | |a Haptics for teleoperated surgical robotic systems |c M. Tavakoli ... [et al.] |
| 264 | 1 | |a Singapore |b World Scientific Pub. Co. |c c2008 | |
| 300 | |a xix, 158 p. |b ill. (some col.) | ||
| 336 | |b txt |2 rdacontent | ||
| 337 | |b c |2 rdamedia | ||
| 338 | |b cr |2 rdacarrier | ||
| 520 | |a An important obstacle in Minimally Invasive Surgery (MIS) is the significant degradation of haptic feedback (sensation of touch) to the surgeon about surgical instrument's interaction with tissue. This monograph is concerned with devices and methods required for incorporating haptic feedback in master-slave robotic MIS systems. In terms of devices, novel mechanisms are designed including a surgical end-effector (slave) with full force sensing capabilities and a surgeon-robot interface (master) with full force feedback capabilities. Using the master-slave system, various haptic teleoperation control schemes are compared in terms of stability and performance, and passivity-based time delay compensation for haptic teleoperation over a long distance is investigated. The monograph also compares haptic feedback with visual feedback and with substitution for haptic feedback by other sensory cues in terms of surgical task performance | ||
| 650 | 4 | |a Robotics in medicine | |
| 650 | 4 | |a Touch | |
| 650 | 0 | 7 | |a Tastwahrnehmung |0 (DE-588)4184494-4 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Telemanipulator |0 (DE-588)4513105-3 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Chirurgie |0 (DE-588)4009987-8 |2 gnd |9 rswk-swf |
| 689 | 0 | 0 | |a Chirurgie |0 (DE-588)4009987-8 |D s |
| 689 | 0 | 1 | |a Telemanipulator |0 (DE-588)4513105-3 |D s |
| 689 | 0 | 2 | |a Tastwahrnehmung |0 (DE-588)4184494-4 |D s |
| 689 | 0 | |8 1\p |5 DE-604 | |
| 700 | 1 | |a Tavakoli, M. |e Sonstige |4 oth | |
| 856 | 4 | 0 | |u http://www.worldscientific.com/worldscibooks/10.1142/6816#t=toc |x Verlag |z URL des Erstveroeffentlichers |3 Volltext |
| 912 | |a ZDB-124-WOP | ||
| 999 | |a oai:aleph.bib-bvb.de:BVB01-030034311 | ||
| 883 | 1 | |8 1\p |a cgwrk |d 20201028 |q DE-101 |u https://d-nb.info/provenance/plan#cgwrk | |
| 966 | e | |u http://www.worldscientific.com/worldscibooks/10.1142/6816#t=toc |l FHN01 |p ZDB-124-WOP |q FHN_PDA_WOP |x Verlag |3 Volltext | |
Datensatz im Suchindex
| _version_ | 1804178050570518528 |
|---|---|
| any_adam_object | |
| building | Verbundindex |
| bvnumber | BV044636340 |
| collection | ZDB-124-WOP |
| ctrlnum | (ZDB-124-WOP)00001985 (OCoLC)1012644294 (DE-599)BVBBV044636340 |
| dewey-full | 610.284 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 610 - Medicine and health |
| dewey-raw | 610.284 |
| dewey-search | 610.284 |
| dewey-sort | 3610.284 |
| dewey-tens | 610 - Medicine and health |
| discipline | Medizin |
| format | Electronic eBook |
| fullrecord | <?xml version="1.0" encoding="UTF-8"?><collection xmlns="http://www.loc.gov/MARC21/slim"><record><leader>02705nmm a2200469zc 4500</leader><controlfield tag="001">BV044636340</controlfield><controlfield tag="003">DE-604</controlfield><controlfield tag="005">00000000000000.0</controlfield><controlfield tag="007">cr|uuu---uuuuu</controlfield><controlfield tag="008">171120s2008 |||| o||u| ||||||eng d</controlfield><datafield tag="020" ind1=" " ind2=" "><subfield code="a">9812813160</subfield><subfield code="c">electronic bk.</subfield><subfield code="9">981-281-316-0</subfield></datafield><datafield tag="020" ind1=" " ind2=" "><subfield code="a">9789812813169</subfield><subfield code="c">electronic bk.</subfield><subfield code="9">978-981-281-316-9</subfield></datafield><datafield tag="024" ind1="7" ind2=" "><subfield code="a">10.1142/6816</subfield><subfield code="2">doi</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(ZDB-124-WOP)00001985 </subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(OCoLC)1012644294</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(DE-599)BVBBV044636340</subfield></datafield><datafield tag="040" ind1=" " ind2=" "><subfield code="a">DE-604</subfield><subfield code="b">ger</subfield><subfield code="e">aacr</subfield></datafield><datafield tag="041" ind1="0" ind2=" "><subfield code="a">eng</subfield></datafield><datafield tag="049" ind1=" " ind2=" "><subfield code="a">DE-92</subfield></datafield><datafield tag="082" ind1="0" ind2=" "><subfield code="a">610.284</subfield><subfield code="2">22</subfield></datafield><datafield tag="245" ind1="1" ind2="0"><subfield code="a">Haptics for teleoperated surgical robotic systems</subfield><subfield code="c">M. Tavakoli ... [et al.]</subfield></datafield><datafield tag="264" ind1=" " ind2="1"><subfield code="a">Singapore</subfield><subfield code="b">World Scientific Pub. Co.</subfield><subfield code="c">c2008</subfield></datafield><datafield tag="300" ind1=" " ind2=" "><subfield code="a">xix, 158 p.</subfield><subfield code="b">ill. (some col.)</subfield></datafield><datafield tag="336" ind1=" " ind2=" "><subfield code="b">txt</subfield><subfield code="2">rdacontent</subfield></datafield><datafield tag="337" ind1=" " ind2=" "><subfield code="b">c</subfield><subfield code="2">rdamedia</subfield></datafield><datafield tag="338" ind1=" " ind2=" "><subfield code="b">cr</subfield><subfield code="2">rdacarrier</subfield></datafield><datafield tag="520" ind1=" " ind2=" "><subfield code="a">An important obstacle in Minimally Invasive Surgery (MIS) is the significant degradation of haptic feedback (sensation of touch) to the surgeon about surgical instrument's interaction with tissue. This monograph is concerned with devices and methods required for incorporating haptic feedback in master-slave robotic MIS systems. In terms of devices, novel mechanisms are designed including a surgical end-effector (slave) with full force sensing capabilities and a surgeon-robot interface (master) with full force feedback capabilities. Using the master-slave system, various haptic teleoperation control schemes are compared in terms of stability and performance, and passivity-based time delay compensation for haptic teleoperation over a long distance is investigated. The monograph also compares haptic feedback with visual feedback and with substitution for haptic feedback by other sensory cues in terms of surgical task performance</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Robotics in medicine</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Touch</subfield></datafield><datafield tag="650" ind1="0" ind2="7"><subfield code="a">Tastwahrnehmung</subfield><subfield code="0">(DE-588)4184494-4</subfield><subfield code="2">gnd</subfield><subfield code="9">rswk-swf</subfield></datafield><datafield tag="650" ind1="0" ind2="7"><subfield code="a">Telemanipulator</subfield><subfield code="0">(DE-588)4513105-3</subfield><subfield code="2">gnd</subfield><subfield code="9">rswk-swf</subfield></datafield><datafield tag="650" ind1="0" ind2="7"><subfield code="a">Chirurgie</subfield><subfield code="0">(DE-588)4009987-8</subfield><subfield code="2">gnd</subfield><subfield code="9">rswk-swf</subfield></datafield><datafield tag="689" ind1="0" ind2="0"><subfield code="a">Chirurgie</subfield><subfield code="0">(DE-588)4009987-8</subfield><subfield code="D">s</subfield></datafield><datafield tag="689" ind1="0" ind2="1"><subfield code="a">Telemanipulator</subfield><subfield code="0">(DE-588)4513105-3</subfield><subfield code="D">s</subfield></datafield><datafield tag="689" ind1="0" ind2="2"><subfield code="a">Tastwahrnehmung</subfield><subfield code="0">(DE-588)4184494-4</subfield><subfield code="D">s</subfield></datafield><datafield tag="689" ind1="0" ind2=" "><subfield code="8">1\p</subfield><subfield code="5">DE-604</subfield></datafield><datafield tag="700" ind1="1" ind2=" "><subfield code="a">Tavakoli, M.</subfield><subfield code="e">Sonstige</subfield><subfield code="4">oth</subfield></datafield><datafield tag="856" ind1="4" ind2="0"><subfield code="u">http://www.worldscientific.com/worldscibooks/10.1142/6816#t=toc</subfield><subfield code="x">Verlag</subfield><subfield code="z">URL des Erstveroeffentlichers</subfield><subfield code="3">Volltext</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">ZDB-124-WOP</subfield></datafield><datafield tag="999" ind1=" " ind2=" "><subfield code="a">oai:aleph.bib-bvb.de:BVB01-030034311</subfield></datafield><datafield tag="883" ind1="1" ind2=" "><subfield code="8">1\p</subfield><subfield code="a">cgwrk</subfield><subfield code="d">20201028</subfield><subfield code="q">DE-101</subfield><subfield code="u">https://d-nb.info/provenance/plan#cgwrk</subfield></datafield><datafield tag="966" ind1="e" ind2=" "><subfield code="u">http://www.worldscientific.com/worldscibooks/10.1142/6816#t=toc</subfield><subfield code="l">FHN01</subfield><subfield code="p">ZDB-124-WOP</subfield><subfield code="q">FHN_PDA_WOP</subfield><subfield code="x">Verlag</subfield><subfield code="3">Volltext</subfield></datafield></record></collection> |
| id | DE-604.BV044636340 |
| illustrated | Illustrated |
| indexdate | 2024-07-10T07:57:49Z |
| institution | BVB |
| isbn | 9812813160 9789812813169 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-030034311 |
| oclc_num | 1012644294 |
| open_access_boolean | |
| owner | DE-92 |
| owner_facet | DE-92 |
| physical | xix, 158 p. ill. (some col.) |
| psigel | ZDB-124-WOP ZDB-124-WOP FHN_PDA_WOP |
| publishDate | 2008 |
| publishDateSearch | 2008 |
| publishDateSort | 2008 |
| publisher | World Scientific Pub. Co. |
| record_format | marc |
| spelling | Haptics for teleoperated surgical robotic systems M. Tavakoli ... [et al.] Singapore World Scientific Pub. Co. c2008 xix, 158 p. ill. (some col.) txt rdacontent c rdamedia cr rdacarrier An important obstacle in Minimally Invasive Surgery (MIS) is the significant degradation of haptic feedback (sensation of touch) to the surgeon about surgical instrument's interaction with tissue. This monograph is concerned with devices and methods required for incorporating haptic feedback in master-slave robotic MIS systems. In terms of devices, novel mechanisms are designed including a surgical end-effector (slave) with full force sensing capabilities and a surgeon-robot interface (master) with full force feedback capabilities. Using the master-slave system, various haptic teleoperation control schemes are compared in terms of stability and performance, and passivity-based time delay compensation for haptic teleoperation over a long distance is investigated. The monograph also compares haptic feedback with visual feedback and with substitution for haptic feedback by other sensory cues in terms of surgical task performance Robotics in medicine Touch Tastwahrnehmung (DE-588)4184494-4 gnd rswk-swf Telemanipulator (DE-588)4513105-3 gnd rswk-swf Chirurgie (DE-588)4009987-8 gnd rswk-swf Chirurgie (DE-588)4009987-8 s Telemanipulator (DE-588)4513105-3 s Tastwahrnehmung (DE-588)4184494-4 s 1\p DE-604 Tavakoli, M. Sonstige oth http://www.worldscientific.com/worldscibooks/10.1142/6816#t=toc Verlag URL des Erstveroeffentlichers Volltext 1\p cgwrk 20201028 DE-101 https://d-nb.info/provenance/plan#cgwrk |
| spellingShingle | Haptics for teleoperated surgical robotic systems Robotics in medicine Touch Tastwahrnehmung (DE-588)4184494-4 gnd Telemanipulator (DE-588)4513105-3 gnd Chirurgie (DE-588)4009987-8 gnd |
| subject_GND | (DE-588)4184494-4 (DE-588)4513105-3 (DE-588)4009987-8 |
| title | Haptics for teleoperated surgical robotic systems |
| title_auth | Haptics for teleoperated surgical robotic systems |
| title_exact_search | Haptics for teleoperated surgical robotic systems |
| title_full | Haptics for teleoperated surgical robotic systems M. Tavakoli ... [et al.] |
| title_fullStr | Haptics for teleoperated surgical robotic systems M. Tavakoli ... [et al.] |
| title_full_unstemmed | Haptics for teleoperated surgical robotic systems M. Tavakoli ... [et al.] |
| title_short | Haptics for teleoperated surgical robotic systems |
| title_sort | haptics for teleoperated surgical robotic systems |
| topic | Robotics in medicine Touch Tastwahrnehmung (DE-588)4184494-4 gnd Telemanipulator (DE-588)4513105-3 gnd Chirurgie (DE-588)4009987-8 gnd |
| topic_facet | Robotics in medicine Touch Tastwahrnehmung Telemanipulator Chirurgie |
| url | http://www.worldscientific.com/worldscibooks/10.1142/6816#t=toc |
| work_keys_str_mv | AT tavakolim hapticsforteleoperatedsurgicalroboticsystems |