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Haptic Interfaces
Haptic devices provide force feedback to humans
interacting with virtual or remote environments. Such devices convey a
kinesthetic sense of presence to the operator. The key characteristic that
distinguishes a haptic interface from passive devices is a bi-directional
flow of information.
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Linear Haptic Display (LHD)
A 3 degree-of-freedom haptic device, built for maximum
workspace, force output, and structural stiffness. It features a patented
steel cable transmission system which enables high forces and high rigidity
in the three orthogonal axis of translation motion.
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Fingertip Haptic Display (FHD)
A 2 degree-of-freedom haptic device whose mechanical
design is optimized for the workspace of the human finger. This device is
being used to study human perception of curved surfaces and surface
discontinuities.
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Pen Based Force Display (PBFD)
A direct-drive, parallel, actuation redundant, three
degree-of-freedom haptic device designed to provide force feedback
information generated by either a master-slave system or a virtual
simulation. The operator interacts with it using either the fingertip or a
freely held pen-like tool.
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High Bandwidth Force Display (HBFD)
A two degree-of-freedom force display for the study of
simulated interactions with heavy and stiff virtual objects involving
whole-arm motions in the plane. It consists of a kinematically simple
cartesian mechanism driven by brushless DC motors through a steel cable
transmission.
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Surgical Technology
Surgical Technology is the application of advanced
technology to minimally invasive surgery (MIS) training and procedures. The
research is focused on following trusts: surgical robotics, objective
assessment of surgical performance, simulation, and the biomechanics of soft
tissue that are related MIS procedures.
The research is conducted as part of a long term collaboration between the
Biorobtics Lab and the Center of Video Endoscopic Surgery (CVES) at the
University of Washington co-chaired by Mika Sinanan MD., Ph.D.
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Surgical Robot System for Open and Minimally Invasive
Surgery
The surgical robotic system includes two portable
surgical robotic arms (7 Degrees of Freedom each) and is capable of
teleported from a distance via Internet (wired & wireless). The system can
be deployed in a hospital operating room setup as well as an operating room
in harsh environment (e.g. desert).
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RedDRAGON
The RedDRAGTON is a system for measuring the kinematics
and the dynamics of two endoscopic tools along with the visual view of the
surgical scene during the course of a surgical procedure. The system can be
used in three different modalities: animal model, physical model simulator,
virtual reality simulator.
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Motorized Endoscopic Grasper (MEG)
The MEG is a 1 degree-of-freedom device incorporates
force and position sensors and actuated by a DC motor for measuring
Biomechanical characteristics of soft tissues in-vivo and in- vitro
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BlueDRAGON
The BlueDRAGTON is a system for measuring the kinematics
and the dynamics of two endoscopic tools along with the visual view of the
surgical scene during the course of a surgical procedure.
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Force Reflective Endoscopic Grasper (FREG)
The FREG is a 1 degree-of-freedom device incorporates
force feedback teleoperation technology into an existing, reusable,
endoscopic grasper for minimally invasive surgery.
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Instrumented Endoscopic Tool (IET)
The instrumented endoscopic surgical grasper incorporates
sensors for measuring forces torques and applied by a surgeon on the tool
during the course of a surgical procedure
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Hidden Markov Model Toolbox for MATLAB
The Hidden Markov Model (HMM) Toolbox for Matlab is a
library of functions (M-files) that were written in Matlab's script language
implementing both the discrete version (DHMM) and the continuous version
(CHMM) of the HMM.
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