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In master-slave teleoperation applications that deal with a delicate and sensitive environment, it is important to provide haptic feedback of slave/environment interactions to the user's hand as it improves task performance and teleoperation transparency (fidelity), which is the extent of telepresence of the remote environment available to the user through(More)
Most conventional motion planning algorithms that are based on the model of the environment cannot perform well when dealing with the navigation problem for real-world mobile robots where the environment is unknown and can change dynamically. In this paper, a layered goal-oriented motion planning strategy using fuzzy logic is developed for a mobile robot(More)
— Minimally invasive surgery involves inserting special instruments into the body cavity through tiny incisions in order to perform surgical procedures. In this paper, the design of a robotic master-slave system for use in minimally invasive surgery is discussed. This system is capable of providing haptic feedback to the surgeon in all available degrees of(More)
—There has been a tremendous growth in the use of modern embedded computers in control and other applications in the past few years. While courses offered in the electrical and computer engineering disciplines cover such topics as microprocessors , digital and analog hardware, control theory, and programming languages, there exist few courses that focus on(More)
The prostate is a small exocrine gland in men responsible for production of the liquid component of the seminal fluid. In North America, prostate cancer accounts for over 300,000 new cases and 40,000 deaths each year and it is the second leading cause of cancer death in men. Low-dose Rate (LDR) brachytherapy is gaining interest as a viable treatment option(More)
In this paper, based on a passivity framework, admittance-type and hybrid-type delay-compensated communication channel models are introduced, which warrant different bilateral control architectures for wave-based teleoperation under time delay. We utilize wave transforms and signal filtering for passivating the delayed-communication channel and(More)
The paper is concerned with determining the feasibility of performing telesurgery over long communication links. It describes an experimental testbed for telesurgery that is currently available in our laboratory. The tesbed is capable of supporting both wired and satellite connections as well as simulated network environments. The feasibility of performing(More)
—Besides stability, a high degree of transparency is also an essential requirement in order to enable operators to safely and precisely perform bilateral teleoperation tasks. An existing approach based on the wave transformation technique can make a two-channel teleoperation system insensitive to time delays by making the time-delayed communication channel(More)
Haptic feedback has the potential to provide superior performance in computer-integrated surgery and training. This paper discusses the design of a user interface that is capable of providing force feedback in all the degrees of freedom (DOFs) available during endoscopic surgery. Using the Jacobian matrix of the haptic interface and its singular values,(More)