Visual Force-Feedback Interfacing for Image-guided Telemanipulated Robotic Surgical Systems

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dc.contributor.advisorTsekos, Nikolaos V.
dc.contributor.advisorDeng, Zhigang
dc.contributor.committeeMemberGarbey, Marc
dc.contributor.committeeMemberChen, Guoning
dc.contributor.committeeMemberStafford, R. Jason
dc.creatorNavkar, Nikhil 1982-
dc.date.accessioned2018-07-17T21:10:40Z
dc.date.available2018-07-17T21:10:40Z
dc.date.createdMay 2013
dc.date.issued2013-05
dc.date.submittedMay 2013
dc.date.updated2018-07-17T21:10:41Z
dc.description.abstractRobot-assisted procedures are perpetually evolving due to potential improvement in patient management and reduction in the overall cost. Integration of an imaging modality intraoperatively further strengthens these procedures by incorporating the information pertaining to the area of intervention. In a telemanipulated system, this information needs to be rendered effectively to the operator. Among the procedures, which can benefit from real-time guidance are robot-assisted intracardiac interventions, such as valvuloplasties, on the beating heart. In this work, we propose an approach for the integration of real-time MRI with the telemanipulated surgical setup and the processing of the imaging data on-the-fly to provide both real-time visualization and force-feedback-based guidance to the operator for maneuvering an interventional tool safely inside the dynamic environment of a heart. Experimental studies demonstrate the improvement in control and manipulation by providing assistance to the operator in realtime via the visual-force feedback interface.
dc.description.departmentComputer Science, Department of
dc.format.digitalOriginborn digital
dc.format.mimetypeapplication/pdf
dc.identifier.urihttp://hdl.handle.net/10657/3289
dc.language.isoeng
dc.rightsThe author of this work is the copyright owner. UH Libraries and the Texas Digital Library have their permission to store and provide access to this work. Further transmission, reproduction, or presentation of this work is prohibited except with permission of the author(s).
dc.subjectMRI
dc.subjectHeart health
dc.subjectSurgical navigation
dc.subjectMedical robotics
dc.subjectImage Guided Treatment
dc.titleVisual Force-Feedback Interfacing for Image-guided Telemanipulated Robotic Surgical Systems
dc.type.dcmiText
dc.type.genreThesis
thesis.degree.collegeCollege of Natural Sciences and Mathematics
thesis.degree.departmentComputer Science, Department of
thesis.degree.disciplineComputer Science
thesis.degree.grantorUniversity of Houston
thesis.degree.levelDoctoral
thesis.degree.nameDoctor of Philosophy

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