Telerobotics for microsurgery

Das, H.; Ohm, Timothy R.; Boswell, C.; Paljug, E.; Rodríguez, G.; Steele, Robert David; Barlow, E.

doi:10.1109/iembs.1996.656928

Cited by 3 publications

(3 citation statements)

References 1 publication

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“…High‐precision robotic manipulators for microsurgical operations are an important technological spin off of the JPL robotics programme described in this paper (see Figure 10)[20, 21, 22, 23, 24]. In particular, a development effort identified by the descriptive name of robot‐assisted microsurgery (RAMS) is developing a tele‐robotic platform which will enable new procedures of the brain, eye, ear, nose, throat, face and hand.…”

Section: Illustrative Terrestrial Spin Offsmentioning

confidence: 99%

Robots in space into the 21st century

Weisbin

Lavery²,

Rodriguez³

1997

Industrial Robot: An International Journal

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Describes the technological developments which are establishing the foundation for an exciting era of in situ exploration missions to planets, comets and asteroids with advanced robotic systems. Also outlines important concurrent terrestrial applications and spinoffs of the space robotics technology. These include high-precision robotic manipulators for microsurgical operations and dexterous arm control systems.

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Section: Illustrative Terrestrial Spin Offsmentioning

confidence: 99%

Robots in space into the 21st century

Weisbin

Lavery²,

Rodriguez³

1997

Industrial Robot: An International Journal

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“…Grace [13] presented a mini tele-surgical parallel robot for the treatment of retinal venous occlusion in ophthalmic surgery. Das et al [14] and Charles, et al [15] developed a precision cable-driven master-and-slave tele-robotic system called RAMS. The system provided tremor filtering, amplified force feedback, and programmable constrained motion of the instrument in the eye to minimize surgical impacts.…”

Section: Introductionmentioning

confidence: 99%

Design and Theoretical Evaluation of Micro-Surgical Manipulators for Orbital Manipulation and Intraocular Dexterity

Wei

Goldman

Simaan

et al. 2007

Proceedings 2007 IEEE International Conference on Robotics and Automation

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This paper addresses the design considerations and dexterity evaluation of a novel hybrid two-armed micro-surgical slave robot equipped with intraocular dexterity devices. A unified framework for the kinematic modeling of this robot is presented while using the kinematic constraints stemming from the constrained motion of the eye. An augmented Jacobian describing the kinematics of the eye and the relative motion of each one of the two Intra-Ocular Dexterity Robots (IODR) is presented. Using this framework, the capabilities of this two-armed robot in performing dexterous intraocular operations are evaluated and compared to a similar robot without intra-ocular dexterity. The Kinematic Conditioning Index (KCI) for the proposed robot is shown to be significant. The results presented show an increase of approximately 33% and 47% in translational and rotational KCI respectively.

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“…They successfully reduced the amplitude of hand tremors from 91 to 60 μm peak-peak, and thus, highly accurate and stable positioning of the tool and reduced hand tremors have been achieved, although the skill of the surgeon influenced the positioning accuracy. Das et al developed a master-slave system for telerobotic microsurgery [11][12][13][14] to improve dexterity of the manual operation. As a demonstration, particles of diameter 0.38 μm were removed from an eyeball phantom.…”

Section: Introductionmentioning

confidence: 99%