Robotic Surgery and Surgical Navigation

A special issue of Applied Sciences (ISSN 2076-3417). This special issue belongs to the section "Robotics and Automation".

Deadline for manuscript submissions: closed (30 September 2021) | Viewed by 2748

Special Issue Editor


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Guest Editor
Department of Biomedical Engineering, the University of Illinois at Chicago, Chicago, IL 60612, USA
Interests: virtual/mixed/augmented reality; surgical simulation and training; pre-surgical planning; intraoperative surgical guidance; 3D computer graphics; haptics; machine learning; scientific visualization; robotics; human/computer interaction
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Special Issue Information

Dear Colleagues,

Robotic surgery and surgical navigation are extremely active areas of research, leading to a market that is expected to reach USD 9.47 billion by 2027. By providing more precise and accurate surgical instrument manipulation that is less prone to human errors, and a more efficient surgical performance, an ever-increasing number of surgical procedures are now being significantly improved by this advanced technology. Shorter surgical and recovery times, better surgical outcomes, less pain, lower costs, and more surgeries per day are just a few examples of the benefits of robotic surgery and surgical navigation, a fascinating field of research that integrates robotics, motion tracking, haptics, artificial intelligence, human–computer interaction, as well as virtual, augmented and mixed reality.

This Special Issue is focused on new methods, algorithms, applications, and validations of the use of robotic surgery and surgical navigation systems.

Prof. Dr. Cristian Luciano
Guest Editor

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Keywords

  • artificial intelligence
  • haptics
  • virtual, augmented and mixed reality
  • human–computer interaction
  • robotics

Published Papers (1 paper)

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Research

13 pages, 4655 KiB  
Article
The Application of an Impedance-Passivity Controller in Haptic Stability Analysis
by Ping-Nan Chen, Yung-Te Chen, Hsin Hsiu and Ruei-Jia Chen
Appl. Sci. 2021, 11(4), 1618; https://doi.org/10.3390/app11041618 - 10 Feb 2021
Viewed by 2268
Abstract
This paper proposes a passivity theorem on the basis of energy concepts to study the stability of force feedback in a virtual haptic system. An impedance-passivity controller (IPC) was designed from the two-port network perspective to improve the chief drawback of haptic systems, [...] Read more.
This paper proposes a passivity theorem on the basis of energy concepts to study the stability of force feedback in a virtual haptic system. An impedance-passivity controller (IPC) was designed from the two-port network perspective to improve the chief drawback of haptic systems, namely the considerable time required to reach stability if the equipment consumes energy slowly. The proposed IPC can be used to achieve stability through model parameter selection and to obtain control gain. In particular, haptic performance can be improved for extreme cases of high stiffness and negative damping. Furthermore, a virtual training system for one-degree-of-freedom sticking was developed to validate the experimental platform of our IPC. To ensure consistency in the experiment, we designed a specialized mechanical robot to replace human operation. Finally, compared with basic passivity control systems, our IPC could achieve stable control rapidly. Full article
(This article belongs to the Special Issue Robotic Surgery and Surgical Navigation)
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