title: Development of a StandAlone Surgical Haptic Arm.
abstract: When performing telesurgery with current commercially available Minimally Invasive Robotic Surgery (MIRS) systems, a surgeon cannot feel the tool interactions that are inherent in traditional laparoscopy. It is proposed that haptic feedback in the control of MIRS systems could improve the speed, safety and learning curve of robotic surgery. To test this hypothesis, a standalone surgical haptic arm (SASHA) capable of manipulating da Vinci tools has been designed and fabricated with the additional ability of providing information for haptic feedback. This arm was developed as a research platform for developing and evaluating approaches to telesurgery, including various haptic mappings between master and slave and evaluating the effects of latency.
authors.affiliation: Electrical and Computer Engineering, Worcester Polytechnic Institute, Worcester, MA 01609, USA. dtjones@alum.wpi.edu
authors.forename: Daniel
authors.initials: D
authors.lastname: Jones
authors.forename: Andrew
authors.initials: A
authors.lastname: Lewis
authors.forename: Gregory S
authors.initials: GS
authors.lastname: Fischer
mesh_terms: D001132:Arm; D001676:Biofeedback, Psychology / Q000295:instrumentation*; D017076:Computer-Aided Design; D004867:Equipment Design; D019544:Equipment Failure Analysis; D006801:Humans; D008328:Man-Machine Systems; D010812:Physical Stimulation / Q000295:instrumentation; D012371:Robotics / Q000295:instrumentation*; D025321:Surgery, Computer-Assisted / Q000295:instrumentation*; D017216:Telemedicine / Q000295:instrumentation*; D014110:Touch