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-basedcisstlibraries 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.
authors.forename: Marcin
authors.initials: M
authors.lastname: Balicki
authors.forename: Tian
authors.initials: T
authors.lastname: Xia
authors.forename: Min Yang
authors.initials: MY
authors.lastname: Jung
authors.forename: Anton
authors.initials: A
authors.lastname: Deguet
authors.forename: Balazs
authors.initials: B
authors.lastname: Vagvolgyi
authors.forename: Peter
authors.initials: P
authors.lastname: Kazanzides
authors.forename: Russell
authors.initials: R
authors.lastname: Taylor