Surgical Robotics
- "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).
- "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.
- "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).
- "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.
- "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.
- "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.
- 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.
- "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.
- "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.
- "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.
- "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.
- Millirobotics for remote, minimally-invasive surgery.
Sastry, S. S., M. Cohn, F. Tendick. Journal of Robotic Systems. 1997.
- 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.
- 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.
- 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.
- 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.
- 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.
- Milli
Robotics for Endoscopy (600 K).Wendlandt, J. M. UC Berkeley ERL Memo Number
M94/7, January 1994.
- 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.
- A
Dextrous Master for Telesurgery (350 K). Crawford, L. S. UC Berkeley ERL
Memo Number M93/95, December 1993.
- 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.
- Finger-Like Biomechanical Robots. Deno, C.,
R. Murray, K. Pister, and S. Sastry. UC Berkeley
ERL Memo, 1992.
Virtual Environments Based Surgical Simulators
- 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.
- 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.
- 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.
- "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.
- "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.
- "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.
- "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.
- "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 (MICCAI99), Cambridge, England, September 19-22, 1999.
- "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.
- "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.
Tactile Sensing and Stimulation
- 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.
- A Compliant
Tactile Display for Teletaction, G. Moy, C. Wagner, and R.S. Fearing,
IEEE Int. Conf. on Robotics and Automation, April 2000.
- 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.
-
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.
- 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.
- 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.
- Temporal Characteristics of the Human Finger
U. Singh Master's Report, Dept. of EE&CS May 1997.
- Some Basic Issues in Teletaction R.S.
Fearing, G. Moy, and E. Tan IEEE Int. Conf. Robotics and Automation, April
1997.
- A Surface Micromachined Microtactile Sensor
Array B.L. Gray and R.S. Fearing IEEE Int. Conf. Robotics and Automation,
April 1996.
- Estimating Human Tactile Resolution
Limits for Stimulator Design Eden Tan Master's Report, Dept. of EE&CS
May 1995.
- Tactile Feedback for Teleoperation. M.B. Cohn,
M. Lam, and R.S. Fearing, SPIE Conf. 1833, Telemanipulator Technology, Boston,
MA, Nov. 15-16, 1992.
- 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.
-
Tactile Sensing and Control of a Planar Manipulator E. Nicolson Ph.D.
Thesis, University of California at Berkeley, November 1994.
- 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.
- 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.
- Tactile Sensing Mechanisms. R. S. Fearing,
Int. Journal of Robotics Research, vol. 9, number 3, June, 1990, pp. 3-23.
Haptics and Teleoperation
- 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.
- "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.
- "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.
- "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.
- "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.
- "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.
- "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.
- 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.
- "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.
Spatial Cognition in Surgery
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Last
updated: January 2002. MCC.