TY - GEN
T1 - Keynote paper - Real world haptics applied to forceps in robot surgery
AU - Sakaino, Sho
AU - Abeykoon, A. M.Harsha S.
AU - Ohnishi, Kouhei
PY - 2010
Y1 - 2010
N2 - This paper presents the technological achievements in realizing the force feedback in surgical robots. No force sensor is used in sensing the force. Disturbance observer and its variant, reaction torque observer is used to detect the force. Bilateral control is used to transmit vivid sensations from the forceps end to the surgeon.
AB - This paper presents the technological achievements in realizing the force feedback in surgical robots. No force sensor is used in sensing the force. Disturbance observer and its variant, reaction torque observer is used to detect the force. Bilateral control is used to transmit vivid sensations from the forceps end to the surgeon.
KW - Bilateral control
KW - Disturbance observer
KW - Robot assisted surgery
UR - http://www.scopus.com/inward/record.url?scp=79952762119&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=79952762119&partnerID=8YFLogxK
U2 - 10.1109/ICIAFS.2010.5715726
DO - 10.1109/ICIAFS.2010.5715726
M3 - Conference contribution
AN - SCOPUS:79952762119
SN - 9781424485512
T3 - Proceedings of the 2010 5th International Conference on Information and Automation for Sustainability, ICIAfS 2010
SP - 571
EP - 574
BT - Proceedings of the 2010 5th International Conference on Information and Automation for Sustainability, ICIAfS 2010
T2 - 2010 5th International Conference on Information and Automation for Sustainability, ICIAfS 2010
Y2 - 17 December 2010 through 19 December 2010
ER -