Surgical Robotics

  1. "Telesurgery and Surgical Simulation: Haptic Interfaces to Real and Virtual Surgical Environments."  M. C. Cavusoglu, F. Tendick, and S. S. Sastry.  In McLaughlin, M. L., Hespanha, J. P., and Sukhatme, G., editors. Touch in virtual environments. IMSC Series in Multimedia. Prentice-Hall. 2001. (In press). pdfAbstract
  2. "Workspace Analysis of Robotic Manipulators for a Teleoperated Suturing Task."  M. C. Cavusoglu, I. Villanueva, F. Tendick. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2001), Maui, HI, October 29-November 3, 2001. pdfAbstract
  3. "Robotics for Telesurgery: Second Generation Berkeley/UCSF Laparoscopic Telesurgical Workstation and Looking towards the Future Applications."  M. C. Cavusoglu, W. Williams, F. Tendick, S.S. Sastry. In the Proceedings of the 39th Allerton Conference on Communication, Control and Computing, Monticello, IL, October 3-5, 2001. (Invited paper). pdfAbstract
  4. "Telesurgery and Surgical Simulation: Design, Modeling, and Evaluation of Haptic Interfaces to Real and Virtual Surgical Environments." M. C. Cavusoglu. PhD Thesis. University of California, Berkeley, August 23, 2000.  Also UC Berkeley ERL Memo M00/43, August 2000. pdfAbstract
  5. "A Laparoscopic Telesurgical Workstation."  M. C. Cavusoglu, F. Tendick, M. Cohn, and S. S. Sastry.  In the IEEE Transactions on Robotics and Automation, Vol. 15, No. 4, August 1999, pp. 728-739. pdfAbstract
  6. "Laparoscopic Telesurgical Workstation." M. C. Cavusoglu, M. Cohn, F. Tendick, and S. S. Sastry. In the Video Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'99), Detroit, MI, May 10-15, 1999. Abstract
  7. Applications of Micro-Mechatronics in Minimally Invasive Surgery, F. Tendick, S.S. Sastry, R.S. Fearing, and M. Cohn, IEEE/ASME Trans. Mechatronics, vol. 3, no. 1, pages 34-42, March 1998.
  8. "Laparoscopic Telesurgical Workstation."  M. C. Cavusoglu, M. Cohn, F. Tendick, and S. S. Sastry.   In Proceedings of the SPIE International Symposium on Biological Optics (BIOS'98) , San Jose, CA, January 24-30, 1998, pp. 296-303. .pdfAbstract
  9. "Human Machine Interfaces for Minimally Invasive Surgery."  F. Tendick, and M. C. Cavusoglu.  In Proceedings of the 19th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS'97), Chicago, IL, October 30- November 2, 1997, pp. 2771-2776. .pdfAbstract
  10. "A Hybrid System Approach to Contact Stability and Force Control in Robotic Manipulators."  M. C. Cavusoglu, J. Yan, and S. S. Sastry.  In Proceedings of the 12th IEEE International Symposium on Intelligent Control (ISIC'97), Istanbul, Turkey, July 16-18, 1997, pp. 143-148. .pdfAbstract
  11. "Control of a Telesurgical Workstation." M. C. Cavusoglu. M.S. Project Report.  University of California at Berkeley, May 20, 1997.  Also UC Berkeley ERL Memo M97/35, May 1997. .pdfAbstract
  12. Millirobotics for remote, minimally-invasive surgery. Sastry, S. S., M. Cohn, F. Tendick. Journal of Robotic Systems. 1997.
  13. Comparison of laparoscopic imaging systems and conditions using a knot tying task. Tendick, F., S. Bhoyrul, and L. Way. Journal of Image Guided Surgery, vol. 2, no. 1, 1996. In press.
  14. The future of laparoscopic surgery. Tendick, F., T. Mori, and L. Way. In L. Way, S. Bhoyrul, and T. Mori, eds., Fundamentals of Laparoscopic Surgery, Churchill-Livingstone, 1995.
  15. Surgical Applications of Milli-Robots (1.6 meg). Cohn, M., L. S. Crawford, J. M. Wendlandt, S. S. Sastry. Journal of Robotic Systems, June 1995, vol.12, (no.6): pp. 401-16. Also UC Berkeley ERL Memo Number M95/17.
  16. Design and Control of a Simplified Stewart Platform for Endoscopy (300 K). Wendlandt, J. M., S. S. Sastry. Proceedings of the 1994 Conference on Decision and Control, vol. 1, pp. 357-362.
  17. Millirobotics for Telesurgery (1.1 meg). Cohn, M., L. S. Crawford, J. M. Wendlandt, S. S. Sastry. Proceedings of the First International Symposium on Medical Robotics and Computer Assisted Surgery, Pittburgh, PA, September 1994.
  18. Milli Robotics for Endoscopy (600 K).Wendlandt, J. M. UC Berkeley ERL Memo Number M94/7, January 1994.
  19. Sensing and manipulation problems in endoscopic surgery: Experiment, Analysis, and Observation. Tendick, F., R. Jennings, G. Tharp, and L. Stark. Presence, vol. 2, no. 1, pp. 66-81, winter 1993.
  20. A Dextrous Master for Telesurgery (350 K). Crawford, L. S. UC Berkeley ERL Memo Number M93/95, December 1993.
  21. Actuation and Force Sensing for Cable Driven, Teleoperated Manipulators. Deno, D. C., J. M. Wendlandt, M. B. Cohn, and S. S. Sastry. Proceedings of Medicine Meets Virtual Reality I, San Diego, June 1992.
  22. Finger-Like Biomechanical Robots. Deno, C., R. Murray, K. Pister, and S. Sastry. UC Berkeley ERL Memo, 1992.

Virtual Environments Based Surgical Simulators

  1. Adaptive Nonlinear Finite Elements for Deformable Body Simulation Using Dynamic Progressive Meshes. X. Wu, M.S. Downes, T. Goktekin, and F. Tendick, In A. Chalmers and T.-M. Rhyne, eds., Proc. Eurographics 2001. In press.
  2. Spatial Ability and Learning the Use of an Angled Laparoscope in a Virtual Environment. R. Eyal and F. Tendick, in J.D. Westwood et al., eds., Medicine Meets Virtual Reality 2001, IOS Press, Amsterdam, pp. 146-152, Jan. 2001.
  3. Measuring In Vivo Animal Soft Tissue Properties for Haptic Modeling in Surgical Simulation. Iman Brouwer, Jeffrey Ustin, Loren Bentley, Alana Sherman, Neel Dhruv, and F. Tendick, in J.D. Westwood et al., eds., Medicine Meets Virtual Reality 2001, IOS Press, Amsterdam, pp. 69-74, Jan. 2001.
  4. "A Virtual Environment Testbed for Training Laparoscopic Surgical Skills."  F. Tendick, M. Downes, T. Goktekin, M. C. Cavusoglu, D. Feygin, X. Wu, R. Eyal, M. Hegarty, and L. W. Way.  In Presence, Vol.  9, No. 3, June 2000 , pp. 236-255. pdfAbstract
  5. "Multirate Simulation for High Fidelity Haptic Interaction with Deformable Objects in Virtual Environments."  M. C. Cavusoglu, F. Tendick.  In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2000), San Francisco, CA, April 24-28, 2000, pp. 2458-2465. pdfAbstract
  6. "Multirate Simulation for High Fidelity Haptic Interaction with Deformable Objects in Virtual Environments."  M. C. Cavusoglu.  UC Berkeley ERL Memo M00/5, January 24, 2000. .pdfAbstract
  7. "Towards a Realistic Echographic Simulator with Force Feedback."  D. d'Aulignac, C. Laugier, and M. C. Cavusoglu.  In the Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems  (IROS'99), Kyongju, Korea, October 17-21, 1999, pp. 727-732. pdfAbstract
  8. "Modeling the Dynamics of the Human Thigh for a Realistic Echographic Simulator with Force Feedback."  D. d'Aulignac, M. C. Cavusoglu, and C. Laugier. In the Proceedings of the Second International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI’99), Cambridge, England, September 19-22, 1999. pdfAbstract
  9. "Virtual Environments for Training Critical Skills in Laparoscopic Surgery."  M. S. Downes, M. C. Cavusoglu, W. Gantert, L. W. Way, and F. Tendick. In  Proceedings of Medicine Meets Virtual Reality VI (MMVR'98) , San Diego, CA, January 28-31, 1998, pp. 316-322. .pdfAbstract
  10. "Development of Virtual Environments for Training Skills and Reducing Errors in Laparoscopic Surgery."  F. Tendick, M. S. Downes, M. C. Cavusoglu, and L. W. Way.  In  Proceedings of the SPIE International Symposium on Biological Optics (BIOS'98) , San Jose, CA, January 24-30, 1998, pp. 36-44. .pdfAbstract

Tactile Sensing and Stimulation

  1. A Hybrid Pneumatic/Electrostatic Milli-Actuator K. H. Chiang and R.S. Fearing, 2000 ASME International Mechanical Engineering Congress and Exposition, vol. MEMS, Nov. 5-10, 2000, Orlando, FL.
  2. A Compliant Tactile Display for Teletaction, G. Moy, C. Wagner, and R.S. Fearing, IEEE Int. Conf. on Robotics and Automation, April 2000.
  3. Human Psychophysics for Teletaction System Design G. Moy, U. Singh, E. Tan, and R.S. Fearing Haptics-e The Electronics Journal of Haptics Research Vol. 1, No. 3, February, 18, 2000.
  4. Inclusion Probing: Signal Detection and Haptic Playback of 2D FEM and Experimental Data J. Yan, P.K. Scott, and R.S. Fearing 8th Symp. on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Proc. ASME IMECE DSC-5 Nashville, TN Nov. 14-19, 1999.
  5. Effects of Shear Stress in Teletaction and Human Perception G. Moy and R.S. Fearing 7th Symp. on Haptic Interfaces for Virtual Environment and Teleoperator Systems, ASME IMECE Anaheim, CA Nov. 1998.
  6. Tactile After-Images from Static Contact U. Singh and R.S. Fearing 7th Symp. on Haptic Interfaces for Virtual Environment and Teleoperator Systems, ASME IMECE Anaheim, CA Nov. 1998.
  7. Temporal Characteristics of the Human Finger U. Singh Master's Report, Dept. of EE&CS May 1997.
  8. Some Basic Issues in Teletaction R.S. Fearing, G. Moy, and E. Tan IEEE Int. Conf. Robotics and Automation, April 1997.
  9. A Surface Micromachined Microtactile Sensor Array B.L. Gray and R.S. Fearing IEEE Int. Conf. Robotics and Automation, April 1996.
  10. Estimating Human Tactile Resolution Limits for Stimulator Design Eden Tan Master's Report, Dept. of EE&CS May 1995.
  11. Tactile Feedback for Teleoperation. M.B. Cohn, M. Lam, and R.S. Fearing, SPIE Conf. 1833, Telemanipulator Technology, Boston, MA, Nov. 15-16, 1992.
  12. The Reliability of Curvature Estimates from Linear Elastic Tactile Sensors, E. Nicolson and R. Fearing, Presented at the 1995 IEEE International Conference on Robotics and Automation, Nagoya, Japan, May 1995.
  13. Tactile Sensing and Control of a Planar Manipulator E. Nicolson Ph.D. Thesis, University of California at Berkeley, November 1994.
  14. Sensing Capabilities of Linear Elastic Cylindrical Fingers, E. Nicolson and R. Fearing, In Proceedings, IEEE/RSJ International Conference on Intelligent Robots and Systems'93, Yokohama, Japan, pp. 178-185, July 1993.
  15. Basic Solid Mechanics for Tactile Sensing. R.S. Fearing and J.M. Hollerbach, Int. Journal of Robotics Research, vol. 4, number 3, Fall, 1985, pp. 40-54.
  16. Tactile Sensing Mechanisms. R. S. Fearing, Int. Journal of Robotics Research, vol. 9, number 3, June, 1990, pp. 3-23.

Haptics and Teleoperation

  1. Haptic Guidance: Experimental Evaluation of a Haptic Training Method for a Perceptual Motor Skill. D. Feygin, M. Keehner, F. Tendick. To appear in Proceedings of IEEE Virtual Reality 2002.
  2. "A Critical Study of the Mechanical and Electrical Properties of the PHANToM(TM) Haptic Interface and Improvements for High Performance Control."  M. C. Cavusoglu, D. Feygin, F. Tendick.  Submitted to the Presence. July 2001. Abstract
  3. "Design and Experimental Evaluation of Bilateral Teleoperation Controllers for Telemanipulation in Soft Environments."  M. C. Cavusoglu, A. Sherman, F. Tendick.  Submitted to the IEEE Transactions on Robotics and Automation. June 2001. Abstract
  4. "Bilateral Controller Design for Telemanipulation in Soft Environments."  M. C. Cavusoglu, A. Sherman, F. Tendick.  In the Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2001), Seoul, Korea, May 21-26, 2001, pp. 1045-1052. pdfAbstract
  5. "Kinematics and Dynamics of Phantom(TM) model 1.5 Haptic Interface." M. C. Cavusoglu, D. Feygin. UC Berkeley ERL Memo M01/15, March 20, 2001.  .pdfAbstract
  6. "Comparison of Teleoperator Control Architectures for Palpation Task."  A. Sherman, M. C. Cavusoglu, F. Tendick.  In Proceedings of the ASME Dynamic Systems and Control Division, part of the ASME International Mechanical Engineering Congress and Exposition (IMECE 2000), Orlando, FL, November 5-10, 2000, vol. 2, pp. 1261-1268.  pdfAbstract
  7. "Maximizing the Sensation of Compliance in Teleoperative Surgery."  F. Tendick, M. C. Cavusoglu, N. Dhruv, and A. Sherman. In Proceedings of the Eighth International Symposium on Robotics with Applications, part of the World Automation Congress (WAC 2000), Maui, HI, June 11-16, 2000. pdfAbstract
  8. Inclusion Probing: Signal Detection and Haptic Playback of 2D FEM and Experimental Data, by J. Yan, P.K. Scott and R.S. Fearing. Proc of ASME Dynamic Systems and Control Div, pp. 203-210, Vol. 67, Nov 1999.
  9. "Human Hand Trajectory Analysis in Point-and-Direct Telerobotics."  T. T. Blackmon, M. C. Cavusoglu, F. Lai, and L. W. Stark.  In Proceedings of the 8th International Conference on Advanced Robotics (ICAR '97), Monterey, CA, July 7-9, 1997, pp. 927-932. .pdfAbstract

Spatial Cognition in Surgery

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Last updated: January 2002. MCC.