Incipient slippage detection in tactile feedback system

• Main Author: Ahmad Khairyanto Ratmin
• Other Authors: Seet Gim Lee, Gerald
• Format: Theses and Dissertations
• Language: English
• Published: 2018
• Subjects: DRNTU::Engineering::Mechanical engineering::Mechatronics; DRNTU::Engineering::Mechanical engineering::Robots; DRNTU::Engineering::Mechanical engineering::Surgical assistive technology
• Online Access: http://hdl.handle.net/10356/73392
• Institution: Nanyang Technological University

The physical isolation of surgeon from surgical instrument and patient inherent to the master-slave setup of the tele-Robotic Minimally Invasive Surgery (RMIS) results in a total loss of sense of touch compromising both diagnostic (e.g. palpation) and assistive (e.g. grasping and suturing) surgical...