Implementation of motion transfer in robotic surgery

Jha, R.K. and Dhiman, Varun and Kumar, Sanjeev and Kumar, Amod (2014) Implementation of motion transfer in robotic surgery. International Journal of Medical Engineering and Informatics, 6 (4). pp. 289-296. ISSN 1755-0653 (Print) 1755-0661 (Online)

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Minimally invasive surgery is a modern surgical technique in which the operating tools are inserted into the patient through small incisions. Robotic applications in general surgery have evolved from simple surgical assist devices, to more sophisticated systems capable of enhancing surgical performance. The primary class of robots used in general surgery today, are 'master-slave' machines, where the robot mimics the movement of the surgeon. A major drawback with the master-slave robotic systems is the motion coordination between the two. The paper discusses the techniques of motion transfer from master to slave and to implement force feedback from slave to master. Motion is transferred from master surgeon handle to the robotic arm depending on the encoder pulses from master configuration. The pulses from the encoder are processed and fed to the slave, which mimics the hand motion of master configuration. A two channel encoder with DC motor is used in master-slave configuration. The proposed configuration with force feedback capability enables the exact motion coordination between surgeon and robotic surgical system. This technique has a wide application, with accuracy, efficiency, safety and overall user experience that provide superior performance and reliability in master-slave robot-assisted interventions.

Item Type: Article
Uncontrolled Keywords: motion transfer; minimally invasive surgery; MIS; robotic surgery; master-slave robots; force feedback; motion coordination; encoder pulses; hand motion; robot motion; surgeon-robot coordination; human-machine interface; HMI; healthcare technology.
Subjects: CSIO > Medical Instrumentation
Divisions: Medical Instrumentation
Depositing User: Ms. Jyotsana
Date Deposited: 06 Apr 2016 15:53
Last Modified: 06 Apr 2016 15:53

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