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Performance measurement in scaled teleoperation for microsurgery

  • Basic Tools and Applications in Tele- and Micro-Surgery
  • Conference paper
  • First Online:
CVRMed-MRCAS'97 (CVRMed 1997, MRCAS 1997)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 1205))

Abstract

Teleoperation systems have been proposed in the past for improved surgical outcomes and telesurgery. In this paper, it is proposed that the performance of such systems be evaluated by comparing the motions and forces occurring during teleoperation with those monitored during direct manipulation. Means for achieving this goal in microsurgery are presented. It is shown that instrument position can be monitored using a camera system operating through the operating microscope and that tissue forces can be measured using an instrumented microgripper. The performance of a scaling teleoperation system is then compared to direct manipulation for two tasks typical of microsurgery. Task errors and completion times are compared for various scaling values.

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Authors and Affiliations

  1. Dept. of Electrical Engineering, University of British Columbia, V6T 1Z4, Vancouver, BC, Canada

    S. E. Salcudean, S. Ku & G. Bell

Authors
  1. S. E. Salcudean
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  2. S. Ku
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  3. G. Bell
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Editor information

Jocelyne Troccaz Eric Grimson Ralph Mösges

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© 1997 Springer-Verlag Berlin Heidelberg

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Salcudean, S.E., Ku, S., Bell, G. (1997). Performance measurement in scaled teleoperation for microsurgery. In: Troccaz, J., Grimson, E., Mösges, R. (eds) CVRMed-MRCAS'97. CVRMed MRCAS 1997 1997. Lecture Notes in Computer Science, vol 1205. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0029304

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  • DOI: https://doi.org/10.1007/BFb0029304

  • Published:

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-62734-0

  • Online ISBN: 978-3-540-68499-2

  • eBook Packages: Springer Book Archive

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