title: Practical haptic navigation with clickable 3D region input interface for supporting master-slave type robotic surgery.
abstract: 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.
authors.affiliation: Graduate School of Medicine, Kyoto University, JAPAN.
authors.forename: Megumi
authors.initials: M
authors.lastname: Nakao
authors.forename: Keiho
authors.initials: K
authors.lastname: Imanishi
authors.forename: Tomohiro
authors.initials: T
authors.lastname: Kuroda
authors.forename: Hiroshi
authors.initials: H
authors.lastname: Oyama
mesh_terms: D006801:Humans; D007564:Japan; D055585:Physical Phenomena; D010825:Physics; D013514:Surgical Procedures, Operative; D014584:User-Computer Interface