NDLI: Virtual Reality-based Telesurgery via Teleprogramming Scheme Combined with Semi-autonomous Control

Content Provider	IEEE Xplore Digital Library
Author	Du Zhijiang Jia Zhiheng Kong Minxiu
Copyright Year	2005
Description	Author affiliation: Robotics Inst., Harbin Inst. of Technol. (Du Zhijiang; Jia Zhiheng; Kong Minxiu)
Abstract	Telesurgery systems have long been suffering variable and unpredictable Internet commutation time delay, operation fatigue, and other drawbacks. Based on virtual reality technology, a teleprogramming scheme combined with semi-autonomous control is introduced to guarantee the robustness and efficiency of teleoperation of HIT-RAOS, a robot-assisted orthopedic surgery system. In this system, without considering time delay, the operator can just interact with virtual environment which provides real-time 3D vision, stereophonic sound, and tactile and force feedback imitated by a parallel master manipulator. And several tasks can be managed simultaneously via semi-autonomous control. Finally, the method is experimentally demonstrated on an experiment of locking of intramedullary nails, and is shown to effectively provide stability and performances
Starting Page	2153
Ending Page	2156
File Size	276993
Page Count	4
File Format	PDF
ISBN	0780387414
DOI	10.1109/IEMBS.2005.1616887
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-01-17
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Delay effects Internet Fatigue Virtual reality Control systems Robust control Robots Orthopedic surgery Virtual environment Real time systems Semi-autonomous control Telesurgery Teleprogram
Content Type	Text
Resource Type	Article

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