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- Mitchell J. H. Lum
- Department of Electrical Engineering, BioRobotics Lab University of Washington, Seattle, WA 98195, USA,
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- Diana C. W. Friedman
- Department of Electrical Engineering, BioRobotics Lab University of Washington, Seattle, WA 98195, USA,
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- Ganesh Sankaranarayanan
- Department of Electrical Engineering, BioRobotics Lab University of Washington, Seattle, WA 98195, USA,
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- Hawkeye King
- Department of Electrical Engineering, BioRobotics Lab University of Washington, Seattle, WA 98195, USA,
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- Kenneth Fodero
- Department of Electrical Engineering, BioRobotics Lab University of Washington, Seattle, WA 98195, USA,
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- Rainer Leuschke
- Department of Electrical Engineering, BioRobotics Lab University of Washington, Seattle, WA 98195, USA,
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- Blake Hannaford
- Department of Electrical Engineering, BioRobotics Lab University of Washington, Seattle, WA 98195, USA,
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- Jacob Rosen
- Department of Computer Engineering Baskin School of Engineering University of California Santa Cruz, CA 95064, USA, ,
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- Mika N. Sinanan
- Department of Surgery, Center for Video Endoscopic Surgery, University of Washington, Seattle, WA 98195, USA,
抄録
<jats:p> The collaborative effort between fundamental science, engineering and medicine provides physicians with improved tools and techniques for delivering effective health care. Minimally invasive surgery (MIS) techniques have revolutionized the way a number of surgical procedures are performed. Recent advances in surgical robotics are once again revolutionizing MIS interventions and open surgery. In an earlier research endeavor, 30 surgeons performed 7 different MIS tasks using the Blue Dragon system to collect measurements of position, force, and torque on a porcine model. This data served as the foundation for a kinematic optimization of a spherical surgical robotic manipulator. Following the optimization, a seven-degree-of-freedom cable-actuated surgical manipulator was designed and integrated, providing all degrees of freedom present in manual MIS as well as wrist joints located at the surgical end-effector. The RAVEN surgical robot system has the ability to teleoperate utilizing a single bi-directional UDP socket via a remote master device. Preliminary telesurgery experiments were conducted using the RAVEN. The experiments illustrated the system’s ability to operate in extreme conditions using a variety of network settings. </jats:p>
収録刊行物
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- The International Journal of Robotics Research
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The International Journal of Robotics Research 28 (9), 1183-1197, 2009-05-20
SAGE Publications