| 1. |
- Anderberg, Magnus, et al.
(författare)
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Robot-assisted radical cystoprostatectomy in a small child with rhabdomyosarcoma: a case report
- 2008
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Ingår i: Journal of Robotic Surgery. - : Springer Science and Business Media LLC. - 1863-2483 .- 1863-2491. ; 2:2, s. 101-103
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Tidskriftsartikel (refereegranskat)abstract
- Abstract We report the first case of a robot-assisted radical cystoprostatectomy in a 22-month-old boy with embryonal rhabdomyosarcoma in his urinary bladder. Treatment according to international protocol CWS-2002 P (Cooperative Weichteilsarkom Studie) was given prior to surgery. The da Vinci S Surgical System from Intuitive Surgical (Sunnyvale, CA, USA) was used to laparoscopically remove the urinary bladder and prostate radically. The surgical procedure performed and the postoperative course were uneventful. This technique is safe and feasible also in small children. It seems to have advantages over open surgery and no disadvantages. We recommend this technique for further use.
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| 2. |
- Cho, Jang Ho, et al.
(författare)
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Design of an Intermediate Layer to Enhance Operator Awareness and Safety in Telesurgical Systems
- 2012
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Ingår i: Proc. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2012), October 7-12, 2012. Vilamoura, Algarve, Portugal. - 2153-0858 .- 2153-0866. ; , s. 1292-1297
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Konferensbidrag (refereegranskat)abstract
- This paper presents a novel control architecture for enhanced operator awareness and improved safety in telesurgical systems. We introduce an intermediate layer between the master and slave sides which allows us to modify the slave motion for safety and the force feedback for operator awareness. The intermediate layer is then designed with a performance objective for the specific task at hand. The control scheme is validated via experiments using a suture and an industrial manipulator. More specifically we show that operator awareness should be implemented as an integrated part of the safety level to maintain safety during surgery.
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| 3. |
- Cho, Jang Ho, et al.
(författare)
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Enhancement of Human Operator's Perceptual Sensitivity for Telesurgical Systems via Polytopic System Approach
- 2012
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Ingår i: 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), 2012. - 9781457711992 ; , s. 75-80
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Konferensbidrag (refereegranskat)abstract
- A suturing including knot tying is one of the more difficult operations to learn in telesurgical systems. Apprentice surgeons commonly suffer from suture breakage or knot failure. The difficulty, generally, comes from the absence of feedback of interaction force cues in a medical device (e.g., a needle and a thread) . Even if there is haptic feedback to the operator, the operator may have a difficulty to detect a specific force such as suture breakage force. To deal with this problem, we propose a control method which can detect a suture breakage force more sensitively by considering human perception characteristics. A performance objective of the control method is designed according to the human perceptual factor, just noticeable difference. By convex optimization of the performance indices, a stabilizing H_inf controller is proposed for the telesurgical system. Finally, the proposed control scheme is validated via a simulation study.
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| 6. |
- Johansson, Rolf, et al.
(författare)
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Stability of Haptic Obstacle Avoidance and Force Interaction
- 2009
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Ingår i: IEEE RSJ International Conference on Intelligent Robots and Systems 2009. - 9781424438037 ; , s. 3238-3243
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Konferensbidrag (refereegranskat)abstract
- Stability problems associated with haptics and robot control with obstacle avoidance are analyzed. Obstacle avoidance algorithms are revised to accomplish stable redesign using absolute stability and passivity theory. A modification of potential functions for haptic rendering and obstacle avoidance allowing stable operation for high stiffness is proposed. The modification leads to velocity-dependent potential-like repulsive stable haptic force interaction with obstacles. Using strictly positive real re-design, stable force interaction can be provided also for high stiffness of manipulated objects or obstacles.
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