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A Telerobotic Assistant for Laparoscopic Surgery

Thomas J. Watson IBM Research CenterRussell H. Taylor

出版	IBM Thomas J. Watson Research Division, 1994
URL	http://books.google.com.hk/books?id=hFZAHAAACAAJ&hl=&source=gbs_api

註釋Abstract: "This paper describes a [sic] image-guided robotic surgical system designed to work as a 'third hand' to assist a human surgeon in a variety of common laparoscopic surgical tasks. The system may be viewed as a step in the continuing evolution of systems which exploit machines to complement human capabilities in the performance of skilled tasks. The system is built around a specially designed 7-axis surgical robot and features a constrained optimizing Cartesian motion controller, image-processing capabilities, telerobotic and semi-autonomous control modalities, and a variety of man-machine interfaces for easy and intuitive control of system functions. The initial focus has been on applications of the system to camera navigation and tissue biopsies within the context of laparoscopic surgical procedures. Preclinical evaluations using the systen will begin at at [sic] The Johns Hopkins University Medical School in the immediate future (well before this paper actually goes to press). After a brief introduction, this paper describes the surgical robot, control architecture, human-machine interfaces, and operation of the system and describes our initial in-vitro demonstrations of its functions."