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Radiofrequency (RF) ablation is a good alternative to hepatic resection for treatment of liver tumors. However, accurate needle insertion requires precise hand-eye coordination and is also affected by the difficulty of RF needle navigation. This paper proposes a cooperative surgical robot system, guided by hand gestures and supported by an augmented reality(More)
Laparoscopic surgery requires rigorous training in order to overcome physical, spatial and visual constraints. We are developing a laparoscopic robot trainer. The robot trainer can learn the motion of the master surgeon when he is performing a virtual surgery, and drive the surgical tool by mimicking the learnt trajectory during training. This paper reports(More)
Automation in medical robotics has been a subject of contention in recent years, with the medical industry wary of adopting fully autonomous surgical systems. Without a consensus on the appropriate amount of automation, the surgeon should decide how best to utilize the system. Hence, this paper reports the design and development of a robotic system, capable(More)
Radiofrequency (RF) ablation surgery is effective in liver tumor treatment with non-collateral damage and reduced blood loss. However, the surgery is challenging for large tumor ablation in a minimally invasive procedure. In this paper, we developed a surgical robot system incorporating medical image information and surgeon's planning knowledge to realize a(More)
Traditional surgical planning is challenged by limited spatial information of 2-D medical images or separated planning phases between 3-D model based virtual planning and its in situ registration. This paper presents an augmented surgical planning method with model-section views of an actual patient body and direct augmented interaction to realize spatially(More)
Tele-operation of robotic surgery reduces the radiation exposure during the interventional radiological operations. However, endoscope vision without force feedback on the surgical tool increases the difficulty for precise manipulation and the risk of tissue damage. The shared control of vision and force provides a novel approach of enhanced control with(More)
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