東華大學圖書館 |

語系: 繁體中文

說明(常見問題)

回圖書館首頁

手機版館藏查詢

登入

回首頁

切換: 標籤 | MARC模式 | ISBD

Force feedback in surgery: Physical ...

Wagner, Christopher Robert.

FindBook

Google Book

Amazon

博客來

Force feedback in surgery: Physical constraints and haptic information.

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	Force feedback in surgery: Physical constraints and haptic information./
作者:	Wagner, Christopher Robert.
面頁冊數:	122 p.
附註:	Source: Dissertation Abstracts International, Volume: 67-05, Section: B, page: 2763.
Contained By:	Dissertation Abstracts International67-05B.
標題:	Engineering, Biomedical. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3217920
ISBN:	9780542694363

Force feedback in surgery: Physical constraints and haptic information.
Wagner, Christopher Robert.

Force feedback in surgery: Physical constraints and haptic information. - 122 p.

Source: Dissertation Abstracts International, Volume: 67-05, Section: B, page: 2763.

Thesis (Ph.D.)--Harvard University, 2006.

Force feedback is widely assumed to enhance performance in robotic surgery, but its benefits have not yet been systematically assessed. Further, the cost of force sensors that allow force feedback is prohibitive, due to the stringent specifications imposed by the surgical environment. We address both sides of this cost benefit analysis of force feedback by investigating the specific benefits allowed by force feedback and by proposing a novel force sensor design.

ISBN: 9780542694363Subjects--Topical Terms:

1017684
Engineering, Biomedical.

Force feedback in surgery: Physical constraints and haptic information.
LDR:03351nmm 2200313 4500 001 1829050
005 20071106080112.5
008 130610s2006 eng d
020 $a 9780542694363
035 $a (UMI)AAI3217920
035 $a AAI3217920
040 $a UMI $c UMI
100 1 $a Wagner, Christopher Robert. $3 1917921
245 1 0 $a Force feedback in surgery: Physical constraints and haptic information.
300 $a 122 p.
500 $a Source: Dissertation Abstracts International, Volume: 67-05, Section: B, page: 2763.
500 $a Adviser: Robert D. Howe.
502 $a Thesis (Ph.D.)--Harvard University, 2006.
520 $a Force feedback is widely assumed to enhance performance in robotic surgery, but its benefits have not yet been systematically assessed. Further, the cost of force sensors that allow force feedback is prohibitive, due to the stringent specifications imposed by the surgical environment. We address both sides of this cost benefit analysis of force feedback by investigating the specific benefits allowed by force feedback and by proposing a novel force sensor design.
520 $a We demonstrate the benefit of force feedback in surgery through a series of psychophysical experiments. By investigating performance on tasks with and without force feedback, we find that the primary benefit of force feedback is that interaction forces are reduced. This results in an increase in patient safety, because high forces correlate directly with tissue trauma. Two mechanisms enable force reduction and other benefits: (1) force feedback transforms environmental interaction forces into mechanical constraints and (2) forces act as a source of information. Mechanical constraints passively reduce intrusions into environmental structures (and, thereby, forces) due to the interactions between hand compliance and environment stiffness. Because this benefit is passive, it happens without a cognitive response. Accordingly, these benefits occur instantaneously, on the time scale of mechanical interactions. Force feedback also allows additional manipulation strategies that take advantage of these physical interactions, potentially reducing mental workload of the surgeon. We also find that force feedback provides information to the surgeon. While the number of ways that forces can potentially inform surgeons is large, the interaction between training and other sources of information is complex. We find that training is necessary, in some contexts, to take full advantage of the informational benefits of force feedback in surgery.
520 $a We propose a three axis force sensor design using strain gages and Shape Deposition Manufacturing (SDM), where components are embedded inside a pourable epoxy. The resulting sensor (+/-2 N range, 0.15 RMS calibration error, 0.15 N drift over five minutes) is small enough for minimally invasive surgery, waterproof, and temperature insensitive. Adapting the SDM design for mass production is straightforward (sensors are cast inreusable molds), resulting in high performance, low cost, disposable sensors.
590 $a School code: 0084.
650 4 $a Engineering, Biomedical. $3 1017684
650 4 $a Engineering, Electronics and Electrical. $3 626636
650 4 $a Health Sciences, Medicine and Surgery. $3 1017756
690 $a 0541
690 $a 0544
690 $a 0564
710 2 0 $a Harvard University. $3 528741
773 0 $t Dissertation Abstracts International $g 67-05B.
790 1 0 $a Howe, Robert D., $e advisor
790 $a 0084
791 $a Ph.D.
792 $a 2006
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3217920