Design of an intermediate layer to enhance operator awareness and safety in telesurgical systems

  • Cho J
  • From P
  • Annerstedt M
 et al. 
  • 20

    Readers

    Mendeley users who have this article in their library.
  • 1

    Citations

    Citations of this article.

Abstract

This paper presents a novel control architecture for enhanced operator awareness and improved safety in telesurgical systems. We introduce an intermediate layer between the master and slave sides which allows us to modify the slave motion for safety and the force feedback for operator awareness. The intermediate layer is then designed with a performance objective for the specific task at hand. The control scheme is validated via experiments using a suture and an industrial manipulator. More specifically we show that operator awareness should be implemented as an integrated part of the safety level to maintain safety during surgery.

Get free article suggestions today

Mendeley saves you time finding and organizing research

Sign up here
Already have an account ?Sign in

Find this document

Authors

Cite this document

Choose a citation style from the tabs below

Save time finding and organizing research with Mendeley

Sign up for free