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Design of an Intermediate Layer to Enhance Operator Awareness and Safety in Telesurgical Systems

Cho, Jang Ho LU ; From, Pål Johan LU ; Annerstedt, Magnus; Robertsson, Anders LU and Johansson, Rolf LU (2012) IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012) In [Host publication title missing] p.1292-1297
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.
Please use this url to cite or link to this publication:
author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
in
[Host publication title missing]
pages
6 pages
publisher
IEEE--Institute of Electrical and Electronics Engineers Inc.
conference name
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012)
external identifiers
  • wos:000317042701128
  • scopus:84872362622
ISSN
2153-0866
2153-0858
project
LCCC
language
English
LU publication?
yes
id
da692edc-c1f9-43b3-90fd-73e64a93dcd6 (old id 3131519)
date added to LUP
2012-10-26 11:16:51
date last changed
2017-04-16 03:11:35
@inproceedings{da692edc-c1f9-43b3-90fd-73e64a93dcd6,
  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.},
  author       = {Cho, Jang Ho and From, Pål Johan and Annerstedt, Magnus and Robertsson, Anders and Johansson, Rolf},
  booktitle    = {[Host publication title missing]},
  issn         = {2153-0866},
  language     = {eng},
  pages        = {1292--1297},
  publisher    = {IEEE--Institute of Electrical and Electronics Engineers Inc.},
  title        = {Design of an Intermediate Layer to Enhance Operator Awareness and Safety in Telesurgical Systems},
  year         = {2012},
}