Abstract
Force feedback systems have been developed to improve the user-friendliness of robotic surgery systems. In teleoperative surgery, one of the major problems is the delay of the transmission of the information from the operation site to the surgery site. The transmission delays of the control signal and force information are less than the that of the image signal. In many cases, the visual information is synchronized with the force information in order to avoid a time gap between them. In this paper, we propose that force information be presented earlier than the visual information. This approach reduces the damage to the organs in surgical operations even though there is a time gap between the delay of force information and visual information. In addition, we propose a method to present predicted force information to avoid damage to the organs due to time delays in teleoperative surgery. The liver can be treated with a contact force of less than 0.8 N and a grasping force of less than 1.1 N by applying the proposed method. The method can realize a teleoperative surgery without damaging the patient's organs.
| Original language | English |
|---|---|
| Title of host publication | IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings |
| Pages | 844-849 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - Dec 1 2010 |
| Event | 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan, Province of China Duration: Oct 18 2010 → Oct 22 2010 |
Publication series
| Name | IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings |
|---|
Other
| Other | 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 |
|---|---|
| Country | Taiwan, Province of China |
| City | Taipei |
| Period | 10/18/10 → 10/22/10 |
Fingerprint
All Science Journal Classification (ASJC) codes
- Artificial Intelligence
- Human-Computer Interaction
- Control and Systems Engineering
Cite this
Asynchronous force and visual feedback in teleoperative laparoscopic surgical system. / Onda, Kazushi; Osa, Takayuki; Sugita, Naohiko; Hashizume, Makoto; Mitsuishi, Mamoru.
IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings. 2010. p. 844-849 5650727 (IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Asynchronous force and visual feedback in teleoperative laparoscopic surgical system
AU - Onda, Kazushi
AU - Osa, Takayuki
AU - Sugita, Naohiko
AU - Hashizume, Makoto
AU - Mitsuishi, Mamoru
PY - 2010/12/1
Y1 - 2010/12/1
N2 - Force feedback systems have been developed to improve the user-friendliness of robotic surgery systems. In teleoperative surgery, one of the major problems is the delay of the transmission of the information from the operation site to the surgery site. The transmission delays of the control signal and force information are less than the that of the image signal. In many cases, the visual information is synchronized with the force information in order to avoid a time gap between them. In this paper, we propose that force information be presented earlier than the visual information. This approach reduces the damage to the organs in surgical operations even though there is a time gap between the delay of force information and visual information. In addition, we propose a method to present predicted force information to avoid damage to the organs due to time delays in teleoperative surgery. The liver can be treated with a contact force of less than 0.8 N and a grasping force of less than 1.1 N by applying the proposed method. The method can realize a teleoperative surgery without damaging the patient's organs.
AB - Force feedback systems have been developed to improve the user-friendliness of robotic surgery systems. In teleoperative surgery, one of the major problems is the delay of the transmission of the information from the operation site to the surgery site. The transmission delays of the control signal and force information are less than the that of the image signal. In many cases, the visual information is synchronized with the force information in order to avoid a time gap between them. In this paper, we propose that force information be presented earlier than the visual information. This approach reduces the damage to the organs in surgical operations even though there is a time gap between the delay of force information and visual information. In addition, we propose a method to present predicted force information to avoid damage to the organs due to time delays in teleoperative surgery. The liver can be treated with a contact force of less than 0.8 N and a grasping force of less than 1.1 N by applying the proposed method. The method can realize a teleoperative surgery without damaging the patient's organs.
UR - http://www.scopus.com/inward/record.url?scp=78651497912&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=78651497912&partnerID=8YFLogxK
U2 - 10.1109/IROS.2010.5650727
DO - 10.1109/IROS.2010.5650727
M3 - Conference contribution
AN - SCOPUS:78651497912
SN - 9781424466757
T3 - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
SP - 844
EP - 849
BT - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
ER -