Answers are grounded in this paper and cite their sources.
In robot-assisted interventions, providing a surgeon with haptic information regarding contacts made between surgical instruments and tissue can improve task performance and reliability. In this paper, a force-reflective user interface is used with a sensorized surgical instrument to form a master-slave test-bed for studying haptic interaction in a soft-tissue endoscopic surgery environment. After modeling and parametric identification of the master and the slave, bilateral controllers are designed and teleoperation experiments involving a single degree of freedom surgical task on soft tissue (palpation) are conducted. The transparency of the teleoperator in terms of transmitting the critical task-related information to the user in the context of soft-tissue surgical applications is investigated
No takes yet. Share an insight, caveat, or question.
Tavakoli et al. (2006) studied this question.
Synapse has enriched 5 closely related papers on similar clinical questions. Consider them for comparative context: