A Haptic Navigation System for Supporting Master-Slave Robotic Surgery

Conventional display in robotic surgery such as flat displays or stereoscopic displays decreases obtainable information around target tissue. For supporting manipulation and performing safe surgery, this paper proposes a haptic navigation method, which enables surgeons to avoid collision with untouchable regions around target tissue by producing force feedback through a master manipulator. This paper also developed an input interface for assignment of 3D untouchable regions through 2D device. Simulator based experiment clears effectiveness of the proposed haptic navigation for improving safety of robotic surgery. Key words: Haptic Augmented Reality, 3D Input, Intraoperative Support

• Type: Conference
• Year: 2003
• Where: ICAT
• Authors: Megumi Nakao, Tomohiro Kuroda, Hiroshi Oyama
• Keywords: Haptic Navigation, ICAT 2003, Target Tissue, Untouchable Regions