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Content Provider | IEEE Xplore Digital Library |
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Author | Tavakoli, M. Aziminejad, A. Patel, R.V. Moallem, M. |
Copyright Year | 2006 |
Description | Author affiliation: Canadian Surg. Technol. & Adv. Robotics, London Health Sci. Centre (Tavakoli, M.; Aziminejad, A.; Patel, R.V.; Moallem, M.) |
Abstract | In the commercially available robot-assisted surgical systems, camera vision constitutes the only flow of data from the patient side to the surgeon side. This paper studies how various modalities for feedback of interaction between a surgical tool and soft tissue can improve the efficiency of a typical surgical task. Utilizing a haptics-enabled master-slave test-bed for minimally invasive surgery, user performance during a telemanipulated soft tissue stiffness discrimination task is compared under visual, haptic, graphical, and graphical plus haptic feedback modes in terms of task success rate and completion time and the amount of energy transfer and consequently trauma to tissue. While no significant difference is found in terms of the task completion times, graphical cueing and visual cueing are found to lead to the highest success rate and the highest risk of tissue damage (proportional to energy), respectively |
Sponsorship | IEEE EMB |
Starting Page | 837 |
Ending Page | 840 |
File Size | 308695 |
Page Count | 4 |
File Format | |
ISBN | 1424400325 |
ISSN | 1557170X |
DOI | 10.1109/IEMBS.2006.260292 |
Language | English |
Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Publisher Date | 2006-08-30 |
Publisher Place | USA |
Access Restriction | Subscribed |
Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Subject Keyword | Robot vision systems Feedback Biological tissues Minimally invasive surgery Haptic interfaces Cameras Machine vision Surges Master-slave Testing |
Content Type | Text |
Resource Type | Article |
Subject | Signal Processing Biomedical Engineering Health Informatics Computer Vision and Pattern Recognition |
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