A laparoscopic telesurgical workstation

被引：79

作者：

Çavusoglu, MC

Tendick, F

Cohn, M

Sastry, SS

机构：

[1] Univ Calif Berkeley, Dept Elect Engn & Comp Sci, Berkeley, CA 94720 USA

[2] Univ Calif San Francisco, Dept Surg, San Francisco, CA 94143 USA

[3] Univ Calif Berkeley, Dept Bioengn, Berkeley, CA 94720 USA

[4] Endorobot Inc, Berkeley, CA 94709 USA

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1999年 / 15卷 / 04期

基金：

美国国家科学基金会; 美国国家航空航天局;

关键词：

laparoscopy; medical robotics; minimally invasive surgery; telesurgery;

D O I：

10.1109/70.782027

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Medical robotics and computer aided surgery in general, and robotic telesurgery in particular, are promising applications of robotics. In this paper, various aspects of telesurgery are studied. After a general introduction to laparoscopic surgery and medical applications of robotics, the UC Berkeley/Endorobotics Inc./UC San Francisco Telesurgical Workstation, a master-slave telerobotic system for laparoscopic surgery, is introduced, followed by its kinematic analysis, control, and experimental results. Later some conceptual and future issues on telesurgery are discussed, including teleoperation and hybrid control, focusing on the special requirements of telesurgery.

引用

页码：728 / 739

页数：12

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