Design of an Intermediate Layer to Enhance Operator Awareness and Safety in Telesurgical Systems
(2012) IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012) 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:
https://lup.lub.lu.se/record/3131519
- author
- Cho, Jang Ho LU ; From, Pål Johan LU ; Annerstedt, Magnus ; Robertsson, Anders LU and Johansson, Rolf LU
- organization
- publishing date
- 2012
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- host publication
- Proc. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2012), October 7-12, 2012. Vilamoura, Algarve, Portugal
- 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)
- conference location
- Vilamoura, Portugal
- conference dates
- 2012-10-07
- external identifiers
-
- wos:000317042701128
- scopus:84872362622
- ISSN
- 2153-0858
- 2153-0866
- project
- RobotLab LTH
- LCCC
- language
- English
- LU publication?
- yes
- id
- da692edc-c1f9-43b3-90fd-73e64a93dcd6 (old id 3131519)
- date added to LUP
- 2016-04-01 10:24:59
- date last changed
- 2024-10-07 04:30:46
@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 = {{Proc. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2012), October 7-12, 2012. Vilamoura, Algarve, Portugal}}, issn = {{2153-0858}}, 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}}, }