Are you looking for read ebook online? Search for your book and save it on your Kindle device, PC, phones or tablets. Download Development Of Piezoresistive Tactile Sensors And A Graphical Display System For Minimally Invasive Surgery And Robotics PDF full book. Access full book title Development Of Piezoresistive Tactile Sensors And A Graphical Display System For Minimally Invasive Surgery And Robotics.
| Author | : Masoud Kalantari |
| Publisher | : |
| Total Pages | : |
| Release | : 2013 |
| Genre | : |
| ISBN | : |
| Author | : Javad Dargahi |
| Publisher | : John Wiley & Sons |
| Total Pages | : 287 |
| Release | : 2012-11-06 |
| Genre | : Science |
| ISBN | : 1118357973 |
Comprehensively covers the key technologies for the development of tactile perception in minimally invasive surgery Covering the timely topic of tactile sensing and display in minimally invasive and robotic surgery, this book comprehensively explores new techniques which could dramatically reduce the need for invasive procedures. The tools currently used in minimally invasive surgery (MIS) lack any sort of tactile sensing, significantly reducing the performance of these types of procedures. This book systematically explains the various technologies which the most prominent researchers have proposed to overcome the problem. Furthermore, the authors put forward their own findings, which have been published in recent patents and patent applications. These solutions offer original and creative means of surmounting the current drawbacks of MIS and robotic surgery. Key features:- Comprehensively covers topics of this ground-breaking technology including tactile sensing, force sensing, tactile display, PVDF fundamentals Describes the mechanisms, methods and sensors that measure and display kinaesthetic and tactile data between a surgical tool and tissue Written by authors at the cutting-edge of research into the area of tactile perception in minimally invasive surgery Provides key topic for academic researchers, graduate students as well as professionals working in the area
| Author | : Ravinder S. Dahiya |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 258 |
| Release | : 2012-07-29 |
| Genre | : Technology & Engineering |
| ISBN | : 9400705794 |
Future robots are expected to work closely and interact safely with real-world objects and humans alike. Sense of touch is important in this context, as it helps estimate properties such as shape, texture, hardness, material type and many more; provides action related information, such as slip detection; and helps carrying out actions such as rolling an object between fingers without dropping it. This book presents an in-depth description of the solutions available for gathering tactile data, obtaining aforementioned tactile information from the data and effectively using the same in various robotic tasks. The efforts during last four decades or so have yielded a wide spectrum of tactile sensing technologies and engineered solutions for both intrinsic and extrinsic touch sensors. Nowadays, new materials and structures are being explored for obtaining robotic skin with physical features like bendable, conformable, and stretchable. Such features are important for covering various body parts of robots or 3D surfaces. Nonetheless, there exist many more hardware, software and application related issues that must be considered to make tactile sensing an effective component of future robotic platforms. This book presents an in-depth analysis of various system related issues and presents the trade-offs one may face while developing an effective tactile sensing system. For this purpose, human touch sensing has also been explored. The design hints coming out of the investigations into human sense of touch can be useful in improving the effectiveness of tactile sensory modality in robotics and other machines. Better integration of tactile sensors on a robot’s body is prerequisite for the effective utilization of tactile data. The concept of semiconductor devices based sensors is an interesting one, as it allows compact and fast tactile sensing systems with capabilities such as human-like spatio-temporal resolution. This book presents a comprehensive description of semiconductor devices based tactile sensing. In particular, novel Piezo Oxide Semiconductor Field Effect Transistor (POSFET) based approach for high resolution tactile sensing has been discussed in detail. Finally, the extension of semiconductors devices based sensors concept to large and flexile areas has been discussed for obtaining robotic or electronic skin. With its multidisciplinary scope, this book is suitable for graduate students and researchers coming from diverse areas such robotics (bio-robots, humanoids, rehabilitation etc.), applied materials, humans touch sensing, electronics, microsystems, and instrumentation. To better explain the concepts the text is supported by large number of figures.
| Author | : Yuan Dai |
| Publisher | : |
| Total Pages | : 85 |
| Release | : 2015 |
| Genre | : |
| ISBN | : |
Minimally invasive surgery (MIS) has gained popularity over traditional open surgery due to its advantages of decreased incision size and pain to the patient, lower risk of infection, and shorter recovery time. Recent developments in robotic surgical systems have shown promise to further advance MIS by offering the surgeons with increased manipulability and dexterity along with 3D vision. However, one major disadvantage associated with robotic surgery is the absence of tactile feedback, which is critical in tool-tissue interaction. This paper provides an overview and information useful for approaching a novel tactile feedback sensor system. We aim to construct highly sensitive micro-scale tri-axial capacitive-based differential force sensors that will be integrated at the tips of surgical tools used in robotic surgery. To date, three capacitive sensor models have been proposed. Comb drive model, joystick model and single-sided capacitive sensor model. The first two models were initially created by COMSOL, with optimized geometry parameters. We demonstrate that all three models can satisfy the sensitivity and resolution requirement after being connected with a readout circuit. The fabrication process is proposed and short-loop experiments have been conducted. The integration of read-out circuits with the capacitive sensor is designed on a flexible printed circuit board, which will be first connected to the computer with LabVIEW based controller to convert the analog signal to digital capacitor signal, and the force information as well as the real-time sensitivity, resolution values can be obtained. After the functionality of the sensor is proven to be valid, the proposed tactile sensor system needs to integrate into current Haptic Feedback System. Both the microcontroller and the software need to be modified to function with the proposed sensor and the actuators.
| Author | : Omeed Paydar |
| Publisher | : |
| Total Pages | : 79 |
| Release | : 2016 |
| Genre | : |
| ISBN | : |
Minimally invasive surgery (MIS) improves patient outcomes. Operations result in smaller incisions, shorter recovery times, lower risk of infection, and reduced pain as compared to open surgery. Moreover, robotic surgical systems improve upon traditional laparoscopic tools used in MIS, including improved dexterity, tremor removal, scaled movements, and 3D visualization. While the adoption of robotic surgical tools accelerates nationwide, these systems are characterized by an absence of touch sensation, which ultimately impedes transition of more delicate procedures. Likewise, excessive grip forces could induce tissue damage, including scar formation, hemorrhaging, perforations, and adhesions. Furthermore, without tactile information, sutures fail because of excessive tensile loads and surgeons require additional training to reach proficiency on the available surgical robots. Although robotics addresses a subset of surgical procedures, efforts to develop and integrate multi-axis biocompatible sensor arrays with commercial robotic surgical systems remain inadequate. New tools that measure compressive sensing could prevent tissue crush injuries, while shear sensing will help reduce suture failure from excessive tensile loads. Consequently, this study investigates the development of a capacitive sensor capable of restoring touch sensation to surgeons operating robotic surgical systems. Real-time access to operative loads could minimize robotic surgical complications, and ultimately, lead to the inclusion of more challenging (demanding) procedures. This work explores a relatively under-researched, undeveloped area of robotic surgery and the major remaining challenge. Because minimally invasive surgery (MIS), specifically robotic surgery, is becoming more prevalent [1], efforts to improve the outcomes are essential. Successful acquisition of intraoperative tactile information will fast-track acceptance of these tools and prevent unwanted patient outcomes.
| Author | : Howard R Nicholls |
| Publisher | : World Scientific |
| Total Pages | : 320 |
| Release | : 1992-12-10 |
| Genre | : Computers |
| ISBN | : 9814505781 |
Advanced robot systems require sensory information to enable them to make decisions and to carry out actions in a versatile, autonomous way. Humans make considerable use of information derived through touch, and an emerging domain of robot sensing is tactile sensing. This book considers various aspects of tactile sensing, from hardware design through to the use of tactile data in exploratory situations using a multi-fingered robot hand.In the first part of the book, the current state of progress of tactile sensing is surveyed, and it is found that the field is still in an early stage of development. Next, some fundamental issues in planar elasticity, concerning the interaction between tactile sensors and the environment, are presented. Having established how the basic data can be derived from the sensors, the issues of what form tactile sensors should take, and how they should be used, are considered. This is particularly important given the infancy of this field. The human tactile system is examined, and then biological touch and its implications for robotics is looked at. Some experiments in dextrous manipulation using a robot hand are described, which apply some of these results. The integration of tactile sensors into a complete system is also considered, and another, novel, approach for using touch sensing in a flexible assembly machine is described.Both basic material and new research results are provided in this book, thus catering to different levels of readers. The chapters by world experts in different aspects of the field are integrated well into one volume. The editor and authors have produced a thorough and in-depth survey of all work in robot tactile sensing, making the book essential reading for all researchers in this emergent field.
| Author | : Qiang Li |
| Publisher | : Academic Press |
| Total Pages | : 374 |
| Release | : 2022-04-02 |
| Genre | : Computers |
| ISBN | : 0323904173 |
Tactile Sensing, Skill Learning and Robotic Dexterous Manipulation focuses on cross-disciplinary lines of research and groundbreaking research ideas in three research lines: tactile sensing, skill learning and dexterous control. The book introduces recent work about human dexterous skill representation and learning, along with discussions of tactile sensing and its applications on unknown objects’ property recognition and reconstruction. Sections also introduce the adaptive control schema and its learning by imitation and exploration. Other chapters describe the fundamental part of relevant research, paying attention to the connection among different fields and showing the state-of-the-art in related branches. The book summarizes the different approaches and discusses the pros and cons of each. Chapters not only describe the research but also include basic knowledge that can help readers understand the proposed work, making it an excellent resource for researchers and professionals who work in the robotics industry, haptics and in machine learning. Provides a review of tactile perception and the latest advances in the use of robotic dexterous manipulation Presents the most detailed work on synthesizing intelligent tactile perception, skill learning and adaptive control Introduces recent work on human’s dexterous skill representation and learning and the adaptive control schema and its learning by imitation and exploration Reveals and illustrates how robots can improve dexterity by modern tactile sensing, interactive perception, learning and adaptive control approaches
| Author | : Salvatore Pirozzi |
| Publisher | : MDPI |
| Total Pages | : 248 |
| Release | : 2021-03-17 |
| Genre | : Technology & Engineering |
| ISBN | : 3036504249 |
The book covers different aspects: - Innovative technologies for tactile sensors development - Tactile data interpretation for control purposes - Alternative sensing technologies - Multi-sensor systems for grasping and manipulation - Sensing solutions for impaired people
| Author | : James D. Westwood |
| Publisher | : IOS Press |
| Total Pages | : 500 |
| Release | : 2009 |
| Genre | : Computers |
| ISBN | : 1586039644 |
The 17th annual Medicine Meets Virtual Reality (MMVR17) was held January 19-22, 2009, in Long Beach, CA, USA. The conference is well established as a forum for emerging data-centered technologies for medical care and education. This proceedings volume is of interest to physicians, surgeons and other medical professionals.
| Author | : Mahdi Tavakoli |
| Publisher | : World Scientific |
| Total Pages | : 179 |
| Release | : 2008-04-14 |
| Genre | : Technology & Engineering |
| ISBN | : 9814471275 |
An important obstacle in Minimally Invasive Surgery (MIS) is the significant degradation of haptic feedback (sensation of touch) to the surgeon about surgical instrument's interaction with tissue. This monograph is concerned with devices and methods required for incorporating haptic feedback in master-slave robotic MIS systems. In terms of devices, novel mechanisms are designed including a surgical end-effector (slave) with full force sensing capabilities and a surgeon-robot interface (master) with full force feedback capabilities. Using the master-slave system, various haptic teleoperation control schemes are compared in terms of stability and performance, and passivity-based time delay compensation for haptic teleoperation over a long distance is investigated. The monograph also compares haptic feedback with visual feedback and with substitution for haptic feedback by other sensory cues in terms of surgical task performance.
