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Application of a Redundant Haptic Interface in Enhancing Soft-Tissue Stiffness Discrimination
Download2019-01-01
Torabi, Ali, Khadem, Mohsen, Zareinia, Kourosh, Sutherland, Garnette, Tavakoli, Mahdi
Haptic-enabled teleoperated surgical systems have the potential to enhance the accuracy and performance of surgical interventions. The user interface of such a system can provide haptic feedback to the surgeon to more intuitively perform surgical tasks. In this paper, we study the added benefits...
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Manipulability of Teleoperated Surgical Robots with Application in Design of Master/Slave Manipulators
Download2018-01-01
Torabi, Ali, Khadem, Mohsen, Zareinia, Kourosh, Sutherland, Garnette, Tavakoli, Mahdi
Teleoperated surgical robots can significantly improve the performance of minimally invasive surgeries. The performance of a master-slave robotic system depends significantly on the capability of its master device to appropriately interface the user with the slave robot. However, master robots...