An operating smooth man–machine collaboration method for cataract capsulorhexis using virtual fixture

Optimum Robot Control for 3D Virtual Fixture in Constrained ENT Surgery

Lecture Notes in Computer Science - Medical Image Computing and Computer-Assisted Intervention - MICCAI 2003 ◽

10.1007/978-3-540-39899-8_21 ◽

2003 ◽

pp. 165-172 ◽

Cited By ~ 5

Author(s):

Ming Li ◽

Russell H. Taylor

Keyword(s):

Robot Control ◽

Ent Surgery ◽

Virtual Fixture

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Surgical Instruments Motion Safety Constraint Based on Haptic Virtual Fixture

2019 IEEE International Conference on Mechatronics and Automation (ICMA) ◽

10.1109/icma.2019.8816535 ◽

2019 ◽

Author(s):

Hao Qiu ◽

Bo Pan ◽

Yili Fu ◽

Yue Ai

Keyword(s):

Surgical Instruments ◽

Virtual Fixture ◽

Safety Constraint

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A Hybrid Active/Passive Wrist Approach for Increasing Virtual Fixture Stiffness in Comanipulated Robotic Minimally Invasive Surgery

IEEE Robotics and Automation Letters ◽

10.1109/lra.2019.2923950 ◽

2019 ◽

Vol 4 (3) ◽

pp. 3029-3036

Author(s):

Caspar Gruijthuijsen ◽

Gianni Borghesan ◽

Dominiek Reynaerts ◽

Emmanuel Vander Poorten

Keyword(s):

Minimally Invasive Surgery ◽

Minimally Invasive ◽

Invasive Surgery ◽

Virtual Fixture

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Interactive Virtual Fixture Generation for Shared Teleoperation in Unstructured Environments

Lecture Notes in Electrical Engineering - Haptic Interaction ◽

10.1007/978-981-13-3194-7_19 ◽

2019 ◽

pp. 88-91

Author(s):

Vitalii Pruks ◽

Jee-Hwan Ryu

Keyword(s):

Unstructured Environments ◽

Virtual Fixture

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Flexible virtual fixture enhanced by vision and haptics for unstructured environment teleoperation

2013 IEEE International Conference on Robotics and Biomimetics (ROBIO) ◽

10.1109/robio.2013.6739872 ◽

2013 ◽

Cited By ~ 5

Author(s):

Zainan Jiang ◽

Yu Liu ◽

Hong Liu ◽

Jibin Zou

Keyword(s):

Virtual Fixture ◽

Unstructured Environment

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2A1-K10 Application of Virtual Fixture on a Neurosurgical Master Slave System

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ◽

10.1299/jsmermd.2009._2a1-k10_1 ◽

2009 ◽

Vol 2009 (0) ◽

pp. _2A1-K10_1-_2A1-K10_2

Author(s):

Hiroaki KOZUKA ◽

Jumpei ARATA ◽

Junichi TOKUDA ◽

Nobuhiko HATA ◽

Kiyoyuki CHINZEI ◽

...

Keyword(s):

Slave System ◽

Virtual Fixture ◽

Master Slave System

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Virtual fixture control of a hybrid parallel-serial robot for assisting ophthalmic surgery: An experimental study

5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics ◽

10.1109/biorob.2014.6913865 ◽

2014 ◽

Cited By ~ 13

Author(s):

M. A. Nasseri ◽

P. Gschirr ◽

M. Eder ◽

S. Nair ◽

K. Kobuch ◽

...

Keyword(s):

Experimental Study ◽

Ophthalmic Surgery ◽

Virtual Fixture ◽

Serial Robot

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Collaborated a Two-Master-Slave Manipulator Arm with Force Reflection for Defined Miniature Tasks

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.415.166 ◽

2013 ◽

Vol 415 ◽

pp. 166-173 ◽

Cited By ~ 1

Author(s):

Nuttapong Nuchprayool ◽

Viboon Sangveraphunsiri

Keyword(s):

Dynamic Model ◽

Pid Controller ◽

High Speed ◽

Experimental Result ◽

Gravity Compensation ◽

Turn On ◽

Working Space ◽

Virtual Fixture ◽

Manipulator Arm ◽

Force Reflection

This paper presents the development of a two-master-slave manipulator arm with force reflection for miniature tasks operation. The configuration of the two-master-slave arm is shown and the dynamic model of the slave arm is analyzed. The PID controller with the gravity compensation is selected for controlling desired positions of slave-tool-tips. The movements of the slave arm can be specified with coarse and fine motion. For the coarse motion, the slave arm will be moved approach to a specified workspace area with low precision but high speed. For the fine motion, the slave arm will be controlled with low speed so that the operator feels more confident to move the slave arm, through the master arm, with higher precision within the specified workspace. While operating the manipulator system, the operator can turn on/off the virtual fixture to command force reflection at the master arm for preventing a collision between the slave arm and the obstacles inside the specified working space. The experimental result is shown that the manipulator system is able to be used in miniature tasks operation with 1 millimeter precision.

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