A Dextrous Master for Telesurgery

L.S. Crawford

EECS Department
University of California, Berkeley
Technical Report No. UCB/ERL M93/95
December 1993

http://www2.eecs.berkeley.edu/Pubs/TechRpts/1993/ERL-93-95.pdf

Minimally invasive surgical techniques, in particular laparoscopy, have many advantages over traditional surgery, most notably more rapid patient recovery. Limitations of current instrumentation, however, can make laparoscopic surgery awkward for the surgeon. A teleoperative surgical workstation would improve the surgeon's dexterity and control during laparoscopy. This report first presents a brief background on laparoscopy, describes a proposed telesurgical workstation, and discusses design goals for the human interface, or dextrous master, for this workstation. It then describes a prototype glove-like master and presents preliminary performance and calibration data obtained with this device.

BibTeX citation:

@techreport{Crawford:M93/95,
    Author = {Crawford, L.S.},
    Title = {A Dextrous Master for Telesurgery},
    Institution = {EECS Department, University of California, Berkeley},
    Year = {1993},
    Month = {Dec},
    URL = {http://www2.eecs.berkeley.edu/Pubs/TechRpts/1993/2480.html},
    Number = {UCB/ERL M93/95},
    Abstract = {Minimally invasive surgical techniques, in particular laparoscopy, have many advantages over traditional surgery, most notably more rapid patient recovery.  Limitations of current instrumentation, however, can make laparoscopic surgery awkward for the surgeon.  A teleoperative surgical workstation would improve the surgeon's dexterity and control during laparoscopy.  This report first presents a brief background on laparoscopy, describes a proposed telesurgical workstation, and discusses design goals for the human interface, or dextrous master, for this workstation.  It then describes a prototype glove-like master and presents preliminary performance and calibration data obtained with this device.}
}

EndNote citation:

%0 Report
%A Crawford, L.S.
%T A Dextrous Master for Telesurgery
%I EECS Department, University of California, Berkeley
%D 1993
%@ UCB/ERL M93/95
%U http://www2.eecs.berkeley.edu/Pubs/TechRpts/1993/2480.html
%F Crawford:M93/95