Masaya Kitagawa

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OBJECTIVES Direct haptic (force or tactile) feedback is not yet available in commercial robotic surgical systems. Previous work by our group and others suggests that haptic feedback might significantly enhance the execution of surgical tasks requiring fine suture manipulation, specifically those encountered in cardiothoracic surgery. We studied the effects(More)
Despite many successes with teleoperated robotic surgical systems, some surgeons feel that the lack of haptic (force or tactile) feedback is detrimental in applications requiring fine suture manipulation. In this paper, we study the difference between applied suture forces in three knot tying exercises: hand ties, instrument ties (using needle drivers), and(More)
For practical application of force feedback in robot-assisted surgical systems, it may not be possible to match the number of degrees of freedom of position sensing and control with the degrees of freedom of force sensing and feedback. The goal of this experimental study is to determine the effect of such sensor/actuator asymmetry during bilateral(More)
Bilateral telemanipulation, which applies haptic feedback to the operator, is not yet available in most commercial robot-assisted surgical systems. We have shown in previous work that the lack of haptic (force or tactile) feedback is detrimental in applications requiring fine suture manipulation. In this paper, we study the effect of substituting direct(More)
Minimally Invasive Surgery (MIS) has enjoyed increasing attention and development over the last two decades. As MIS systems evolve, the surgeon is increasingly insulated from patient contact, creating a trade-off between surgical sensory information and patient invasiveness. Incorporation of haptic feedback into MIS systems promises to restore sensory(More)
This thesis reports on the effects of indirect force feedback methods in the telemanipulated robotic system. The goal of the work reported here is to evaluate the role of force feedback information during telemanipulation, with a focus on robot-assisted surgery. Current robot-assisted surgery systems do not provide haptic feedback to the operator; it is not(More)
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