{"version":1,"kind":"Article","sha256":"","slug":"815","location":"","dependencies":[],"doi":"10.54294/b6fs4x","thumbnail":"https://pub.desci.com/ipfs/bafkreibrinpwwnzxian4qxpldbuqjmfq2dumkwqeqb625r6axnffzohijq","frontmatter":{"title":"Prototyping a Hybrid Cooperative and Tele-robotic Surgical System for Retinal Microsurgery","abstract":"This paper presents the design of a tele-robotic microsurgical platform designed for development of cooperative and tele-operative control schemes, sensor based smart instruments, user interfaces and new surgical techniques with eye surgery as the driving application. The system is built using the distributed component-based cisst libraries and the Surgical Assistant Workstation framework. It includes a cooperatively controlled EyeRobot2, a da Vinci Master manipulator, and a remote stereo visualization system. We use constrained optimization based virtual fixture control to provide Virtual Remote-Center-of-Motion (vRCM) and haptic feedback. Such system can be used in a hybrid setup, combining local cooperative control with remote tele-operation, where an experienced surgeon can provide hand-over-hand tutoring to a novice user. In another scheme, the system can provide haptic feedback based on virtual fixtures constructed from real-time force and proximity sensor information.","license":"You are licensing your work to Kitware Inc. under the\nCreative Commons Attribution License Version 3.0.\n\nKitware Inc. agrees to the following:\n\nKitware is free\n * to copy, distribute, display, and perform the work\n * to make derivative works\n * to make commercial use of the work\n\nUnder the following conditions:\n\\\"by Attribution\\\" - Kitware must attribute the work in the manner specified by the author or licensor.\n\n * For any reuse or distribution, they must make clear to others the license terms of this work.\n * Any of these conditions can be waived if they get permission from the copyright holder.\n\nYour fair use and other rights are in no way affected by the above.\n\nThis is a human-readable summary of the Legal Code (the full license) available at\nhttp://creativecommons.org/licenses/by/3.0/legalcode","keywords":["Cooperative Control","Virtual Fixtures","Medical Robotics","Stereo Visualization","Haptics","Distributed Surgical System","Eye Surgery","Teleoperation"],"authors":[{"name":"Balicki, Marcin","email":"marcin@jhu.edu","affiliations":["Johns Hopkins University"],"corresponding":true},{"name":"Xia, Tian","email":"einsdot@gmail.com","affiliations":[]},{"name":"Jung, Min Yang","email":"myj@jhu.edu","affiliations":[]},{"name":"Anton Deguet, Anton","affiliations":[]},{"name":"Vagvolgyi, Balazs","affiliations":[]},{"name":"Kazanzides, Peter","email":"pkaz@cs.jhu.edu","affiliations":[]},{"name":"Taylor, Russell","affiliations":[]}],"date_submitted":"2011-06-17 18:16:51","external_publication_id":815,"revision_cids":["bafkreibexudarzkkm2z4vnns73gb4mqczamca2kgbigej3nkyrnesgqv5a"],"thumbnail":"https://pub.desci.com/ipfs/bafkreibrinpwwnzxian4qxpldbuqjmfq2dumkwqeqb625r6axnffzohijq"},"mdast":{"type":"root"},"downloads":[{"url":"https://ipfs.desci.com/ipfs/bafkreigi3voma72xbwwa3hgee4htgacccuwnsnaa52cybzxl5pongrw3w4","title":"root/insight-journal-metadata.json","filename":"insight-journal-metadata.json","extra":{"size_bytes":5734,"type":"file"}},{"url":"https://dweb.link/ipfs/bafybeidknvabkryjgb2giaglfqmy5qb5chtzq4brktvuawijifrx2fdbfm","title":"root/article.pdf","filename":"article.pdf","extra":{"size_bytes":3308338,"type":"file"}}],"references":{"cite":{"order":["ref1","ref2","ref3","ref4","ref5","ref6"]},"data":{"ref1":{"label":"ref1","enumerator":"1","html":"A Component-based Architecture for Flexible Integration of Robotic Systems+6107+6112+2010+MY Jung"},"ref2":{"label":"ref2","enumerator":"2","url":"https://doi.org/10.1109/robot.2006.1641189","html":"Constrained Control for Surgical Assistant Robots+In Proceedings of IEEE ICRA+231+236+2006+A. Kapoor+M. Li+R. H. Taylor"},"ref3":{"label":"ref3","enumerator":"3","url":"https://doi.org/10.1115/1.2168163","html":"Stable Forbidden-Region Virtual Fixtures for Bilateral Telemanipulation+Journal of Dynamic Systems+2006+Abbott JJ+Control"},"ref4":{"label":"ref4","enumerator":"4","html":"Development and application of a new steady-hand manipulator for retinal surgery+In Proceedings of IEEE ICRA+623+629+2007+B Mitchell"},"ref5":{"label":"ref5","enumerator":"5","url":"https://doi.org/10.1007/978-3-642-15711-0_38","html":"Micro-force sensing in robot assisted membrane peeling for vitreoretinal surgery+In: Proceedings of MICCAI+2010+Balicki MA"},"ref6":{"label":"ref6","enumerator":"6","html":"Workstation (SAW) Application for a Teleoperated Surgical Robot System,”+Midas Journal+2009+MY Jung+A Surgical Assistant"}}}}