In this chapter we present an overview of the field of telerobotics with a focus on control aspects. To acknowledge some of the earliest contributions and motivations the field has provided to robotics in general, we begin with a brief historical perspective and discuss some of the challenging applications. Then, after introducing and classifying the various system architectures and control strategies, we emphasize bilateral control and force feedback. This particular area has seen intense research work in the pursuit of telepresence. We also examine some of the emerging efforts, extending telerobotic concepts to unconventional systems and applications. Finally,we suggest some further reading for a closer engagement with the field.
Laparoscopic telesurgery workstation
Author Murat C. Çavuşoğlu, Michael Cohn, Frank Tendick, S. Shankar Sastry
Video ID : 322
This video shows a laparoscopic telesurgery system developed at UC Berkeley and UCSF. The system consists of a slave, laparoscopic-surgery robot and 7-DOF, customized Phantom master manipulator. Animal laparoscopic surgery was performed by using this telerobotic system. Presented in ICRA 1999.