917 lung collapse and gas insufflation). To determine the effects of lung collapse and insufflation, this port site selection algorithm could be applied to registered sequential images while using varying levels of chest insufflation. Both of these examples (anatomic extremes and chest in-sufflation) represent important elements of future validation work.… (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)
A high-performance magnetic levitation haptic interface has been developed to enable the user to interact dynamically with simulated environments by holding a levitated structure and directly feeling its computed force and motion responses. The haptic device consists of a levitated body with six degrees of freedom and motion ranges of 5 mm and 3.5 degrees… (More)
I propose for my thesis project to build a high-performance 6 degree of freedom magnetic levitation haptic interface device, integrate its operation for use with realistic, detailed, graphically displayed three-dimensional simulated physical environments, and evaluate the eeectiveness of the resulting rigid-body haptic interaction system. In tool-based… (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)
This paper reports preliminary experiments with a new robot system designed to cooperatively extend a human's ability to perform fine manipulation tasks requiring human judgement, sensory integration and hand-eye coordination. A recently completed steady-hand robot is reported. A stable force control law is reviewed. Preliminary experiments validate… (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)
This paper reports the development of a full-scale instru-mented model of the human ear that permits quantitative evaluation of the utility of a microsurgical assistant robot in the surgical procedure of stapedotomy.