Mohammadali Tavakoli

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Providing a surgeon with information regarding contacts made between instruments and tissue during robot-assisted interventions can improve task efficiency and reliability. In this report, different methods for feedback of such information to the surgeon are discussed. It is hypothesized that various methods of contact feedback have the potential to enhance(More)
Bilateral master-slave teleoperation, in addition to requiring a haptics-capable master interface, often requires one or more force sensors, which increases the cost and complexity of the system particularly for robot-assisted surgery. In this paper, we investigate the benefits of using force sensors that measure hand/master and slave/environment(More)
Discretisation of a stabilising continuous-time bilateral teleoperation controller for digital implementation may not necessarily lead to stable teleoperation. While previous research has focused on the question of passivity or stability of haptic interaction with a discretely simulated virtual wall, here the stability of master– slave teleoperation under(More)
In the presence of communication latency in a bilaterally controlled teleoperation system, stability and transparency are severely affected. In this paper, based on a passivity framework, admittance-type and hybrid-type delay-compensated communication channels, which warrant different bilateral control architectures, are introduced. Wave transforms and(More)
In this paper, two different approaches have been proposed aiming to improve transparency of a passivity-based delay-compensated teleoperation system: direct force reflection in a two-channel wave-based control architecture, which uses the same number of channels as the traditional position error- based control scheme with wave variables and, four-channel(More)
In the commercially available robot-assisted surgical systems, camera vision constitutes the only flow of data from the patient side to the surgeon side. This paper studies how various modalities for feedback of interaction between a surgical tool and soft tissue can improve the efficiency of a typical surgical task. Utilizing a haptics-enabled master-slave(More)
Providing a surgeon with information regarding contacts made between tools and tissue during robot-assisted interventions can improve task efficiency and reliability. It is hypothesized that various modalities of contact feedback have the potential to enhance performance in a robot-assisted minimally invasive environment. In this paper, (kinesthetic) haptic(More)
There has been some interest in recent years on how information about interactions happening between surgical instruments and tissue during robot-assisted surgery could improve the efficiency and reliability of a surgical task. In this paper, it is hypothesized that various modes of sensory feedback have the potential to enhance performance in(More)
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