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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)
— 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)
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)
We describe a n e x p erimental arrangement for comparison of user performance during a real and a virtual 3-D peg-in-hole task. Tasks are p erformed using a unique six-degree-of-freedom 6-DOF magnetic lev-itation haptic device. The arrangement allows a user to exert and experience r e al and virtual forces using the same 6-DOF device. During the virtual(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)
OBJECTIVE This report describes the design, development, and testing of a novel compact surgical assistant robot to control the orientation and insertion depth of a laparoscopic endoscope during minimally invasive abdominal surgery. In contrast to typical endoscope manipulators, the described robot is particularly compact and lightweight, is simple to set(More)
This paper describes the development of a compact laparoscopic endoscope manipulator and its command interface for use as a surgical assistant during minimally invasive surgery. The dee ning feature of the endoscope manipulator is that it is su ciently small and lightweight to be xed directly on the abdomen of the patient. The mechanism of the manipulator(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)