Peter J. Berkelman

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This paper reports the development of a new miniature force sensor designed to measure contact forces at the tip of a microsurgical instrument in three dimensions, and its application to scaled force feedback using a cooperatively manipulated microsurgical assistant robot. The principal features of the sensor are its small size of 12.5 mm in diameter and 15(More)
We describe an experimental arrangement for comparison of user performance during a real and a virtual 3-D peg-in-hole task. Tasks are performed using a unique six-degree-of-freedom (6-DOF) magnetic levitation haptic device. The arrangement allows a user to exert and experience real and virtual forces using the same 6-DOF device. During the virtual task, a(More)
A high performance six degree-of-freedom magnetic levitation haptic interface device has been integrated with a physically-based dynamic rigid-body simulation to enable realistic user interaction in real time with a 3-D dynamic virtual environment. The user grasps the levitated handle of the device to manipulate a virtual tool in the simulated environment(More)
This paper describes the control system and user command interfaces developed for a lightweight, compact, endoscope camera manipulator prototype for robot-assisted minimally invasive surgery. A complete teleoperated minimally invasive surgical system in development is also based on using lightweight, compact manipulators with simple, reliable, and robust(More)
OBJECTIVE Micropick fenestration of the stapes footplate, a difficult step in stapedotomy, was selected for trials evaluating the potential for robotic assistance (RA) to improve clinical measures of surgical performance. STUDY DESIGN In a surgical model of stapedotomy, we measured accuracy of fenestration to a desired point location and force applied to(More)
PURPOSE We have conducted experiments with an innovatively designed robot endoscope holder for laparoscopic surgery that is small and low cost. MATERIALS AND METHODS A compact light endoscope robot (LER) that is placed on the patient's skin and can be used with the patient in the lateral or dorsal supine position was tested on cadavers and laboratory pigs(More)
1 Kumar is with the Department of Computer Science, email: Berkelman is with the the Department of Radiology, the Wilmer Eye Institute, and the Department of Mechanical Engineering, email: Gupta is with the Department of Biomedical Engineering, email: Barnes and Jensen are with the Wilmer Eye Institute,(More)
W e have developed a cable-driven manipulator using pneumatic artijcial muscle actuators to control the orientation and insertion depth of an endoscope during abdomenal surge ry. This manipulator enables a single surgeon to manipulate surgical instruments with both hands while the endoscope position is controlled to view an area of interest inside the(More)
Compared with traditional open surgery, minimally invasive surgical procedures reduce patient trauma and recovery time, but the dexterity of the surgeon in laparoscopic surgery is reduced owing to the small incisions, long instruments and limited indirect visibility of the operative site inside the patient. Robotic surgical systems, teleoperated by surgeons(More)