Remote control in telerobotic surgery

This paper deals with the description of a telerobotic surgery experiment, conducted on July 7, 1993, between the Politecnico di Milano, Telerobotics Laboratory, Italy, and the Jet Propulsion Laboratory, Pasadena, CA. It describes the results obtained, the new objectives proposed and the technical equipment. It also provides a comparison between the different solutions adopted. Telerobotic surgery requires particular skill; the integration of human capabilities with robotics in surgery offers useful results for robotic applications in new fields, especially health care.

[1]  Kazuhito Yokoi,et al.  A Method Of Compliance Control For A Redundant Manipulator , 1992, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems.

[2]  Blake Hannaford,et al.  Experimental and simulation studies of hard contact in force reflecting teleoperation , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[3]  K. Komoriya,et al.  Utilization of the virtual environment system for autonomous control of mobile robots , 1990, Proceedings of the IEEE International Workshop on Intelligent Motion Control.

[4]  Jun Tang,et al.  Visual display considerations of a teleoperated robot system via ISDN communication lines , 1993, Other Conferences.

[5]  Louis B. Rosenberg.  Virtual fixtures as tools to enhance operator performance in telepresence environments , 1993, Other Conferences.

[6]  A. K. Bejczy,et al.  A laboratory breadboard system for dual-arm teleoperation , 1990 .

[7]  Neville Hogan,et al.  Impedance Control: An Approach to Manipulation: Part I—Theory , 1985 .

[8]  Blake Hannaford,et al.  Force-reflection and shared compliant control in operating telemanipulators with time delay , 1992, IEEE Trans. Robotics Autom..

[9]  Kazuo Tanie,et al.  Environment modeling for the interactive display (EMID) used in telerobotic systems , 1991, Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91.

[10]  Robert J. Anderson.  Teleoperation with virtual force feedback , 1993, Other Conferences.

[11]  Blake Hannaford,et al.  Force reflection, shared control, and time delay in telemanipulation , 1989, Conference Proceedings., IEEE International Conference on Systems, Man and Cybernetics.

[12]  Neville Hogan,et al.  Impedance Control: An Approach to Manipulation , 1984, 1984 American Control Conference.

[13]  Paul S. Schenker,et al.  Advanced operator interface design with preview/predictive displays for ground-controlled space telerobotic servicing , 1993, Other Conferences.

[14]  Sukhan Lee,et al.  Computer control of space-borne teleoperators with sensory feedback , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[15]  S. Lee.  Intelligent sensing and control for advanced teleoperation , 1993 .