{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,18]],"date-time":"2025-12-18T13:53:59Z","timestamp":1766066039291,"version":"3.38.0"},"publisher-location":"Berlin, Heidelberg","reference-count":40,"publisher":"Springer Berlin Heidelberg","isbn-type":[{"type":"print","value":"9783642147425"},{"type":"electronic","value":"9783642147432"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2010]]},"DOI":"10.1007\/978-3-642-14743-2_30","type":"book-chapter","created":{"date-parts":[[2010,11,30]],"date-time":"2010-11-30T09:20:48Z","timestamp":1291108848000},"page":"361-372","source":"Crossref","is-referenced-by-count":34,"title":["Haptics for Robot-Assisted Minimally Invasive Surgery"],"prefix":"10.1007","author":[{"given":"A. M.","family":"Okamura","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"L. N.","family":"Verner","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"C. E.","family":"Reiley","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"M.","family":"Mahvash","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","reference":[{"key":"30_CR1","doi-asserted-by":"crossref","unstructured":"Guthart, G., Salisbury, J.K.: The Intuitive Telesurgery System: Overview and application. In: IEEE Int. Conf. Rob. Aut., pp. 618\u2013621 (2000)","DOI":"10.1109\/ROBOT.2000.844121"},{"key":"30_CR2","series-title":"Lecture Notes in Computer Science","doi-asserted-by":"publisher","first-page":"155","DOI":"10.1007\/3-540-45786-0_20","volume-title":"Medical Image Computing and Computer-Assisted Intervention - MICCAI 2002","author":"M. Kitagawa","year":"2002","unstructured":"Kitagawa, M., Bethea, B.T., Gott, V.L., Okamura, A.M.: Analysis of suture manipulation forces for teleoperation with force feedback. In: Dohi, T., Kikinis, R. (eds.) MICCAI 2002. LNCS, vol.\u00a02488, pp. 155\u2013162. Springer, Heidelberg (2002)"},{"issue":"2","key":"30_CR3","doi-asserted-by":"publisher","first-page":"99","DOI":"10.1177\/000331970105200202","volume":"52","author":"L.W. Tang","year":"2001","unstructured":"Tang, L.W.: Robotically assisted video-enhanced endoscopic coronary artery bypass graft surgery. Angiology\u00a052(2), 99\u2013102 (2001)","journal-title":"Angiology"},{"key":"30_CR4","unstructured":"Xin, H., Zelek, J.S., Carnahan, H.: Laparoscopic surgery, perceptual limitations and force: A review. In: First Canadian Student Conference on Biomedical Computing, Kingston, Ontario, Canada, vol.\u00a0144 (2006)"},{"issue":"4A","key":"30_CR5","doi-asserted-by":"publisher","first-page":"2","DOI":"10.1016\/j.amjsurg.2004.08.025","volume":"188","author":"D.B. Camarillo","year":"2004","unstructured":"Camarillo, D.B., Krummel, T.M., Salisbury, J.K.: Robotic technology in surgery: past, present, and future. Am. J. Surg.\u00a0188(4A), 2S\u201315S (2004)","journal-title":"Am. J. Surg."},{"issue":"5","key":"30_CR6","doi-asserted-by":"publisher","first-page":"842","DOI":"10.1067\/mtc.2001.112625","volume":"121","author":"F.W. Mohr","year":"2001","unstructured":"Mohr, F.W., Falk, V., Diegeler, A., Walther, T., Gummert, J.F., Bucerius, J., Jacobs, S., Autschbach, R.: Computer-enhanced \u201crobotic\u201d cardiac surgery: Experience in 148 patients. J. Thor. Cardio. Surg.\u00a0121(5), 842\u2013853 (2001)","journal-title":"J. Thor. Cardio. Surg."},{"issue":"1","key":"30_CR7","doi-asserted-by":"publisher","first-page":"22","DOI":"10.1108\/01439910310457670","volume":"30","author":"M.C. Cavusoglu","year":"2003","unstructured":"Cavusoglu, M.C., Williams, W., Tendick, F., Sastry, S.S.: Robotics for telesurgery: Second generation berkeley\/ucsf laparoscopic telesurgical workstation and looking towards the future applications. Ind. Rob.\u00a030(1), 22\u201329 (2003)","journal-title":"Ind. Rob."},{"issue":"6","key":"30_CR8","doi-asserted-by":"publisher","first-page":"499","DOI":"10.1108\/01439910410566362","volume":"31","author":"A.M. Okamura","year":"2004","unstructured":"Okamura, A.M.: Methods for haptic feedback in teleoperated robot-assisted surgery. Ind. Rob.\u00a031(6), 499\u2013508 (2004)","journal-title":"Ind. Rob."},{"issue":"3","key":"30_CR9","doi-asserted-by":"publisher","first-page":"278","DOI":"10.1016\/S1091-255X(99)80069-9","volume":"3","author":"M. MacFarlane","year":"1999","unstructured":"MacFarlane, M., Rosen, J., Hannaford, B., Pellegrini, C., Sinanan, M.: Force feedback grasper helps restore the sense of touch in minimally invasive surgery. Journal of Gastrointestinal Surgery\u00a03(3), 278\u2013285 (1999)","journal-title":"Journal of Gastrointestinal Surgery"},{"key":"30_CR10","doi-asserted-by":"crossref","first-page":"102","DOI":"10.1097\/01.sla.0000149301.60553.1e","volume":"241","author":"G. Tholey","year":"2005","unstructured":"Tholey, G., Desai, J.P., Castellanos, A.E.: Force feedback plays a significant role in minimally invasive surgery: results and analysis. Annals of Surgery\u00a0241, 102\u2013109 (2005)","journal-title":"Annals of Surgery"},{"key":"30_CR11","doi-asserted-by":"crossref","unstructured":"Deml, B., Ortmaier, T., Seibold, U.: The touch and feel in minimally invasive surgery. In: IEEE International Workshop on Haptic Audio Visual Environments and their Applications, pp. 33\u201338 (2005)","DOI":"10.1109\/HAVE.2005.1545648"},{"key":"30_CR12","series-title":"Springer Tracts in Advanced Robotics (STAR)","first-page":"341","volume-title":"Advances in Telerobotics","author":"T. Ortmaier","year":"2007","unstructured":"Ortmaier, T., Deml, B., Kuebler, B., Passig, G., Reintsema, D., Seibold, U.: Robot assisted force feedback surgery. In: Advances in Telerobotics. Springer Tracts in Advanced Robotics (STAR), pp. 341\u2013358. Springer, Heidelberg (2007)"},{"issue":"3","key":"30_CR13","doi-asserted-by":"publisher","first-page":"252","DOI":"10.1162\/pres.16.3.252","volume":"16","author":"C.R. Wagner","year":"2007","unstructured":"Wagner, C.R., Stylopoulos, N., Jackson, P.G., Howe, R.D.: The benefit of force feedback in surgery: Examination of blunt dissection. Presence: Teleoperators and Virtual Environments\u00a016(3), 252\u2013262 (2007)","journal-title":"Presence: Teleoperators and Virtual Environments"},{"issue":"1","key":"30_CR14","doi-asserted-by":"publisher","first-page":"49","DOI":"10.3109\/10929080209146016","volume":"7","author":"J. Rosen","year":"2002","unstructured":"Rosen, J., Solazzo, M., Hannaford, B., Sinanan, M.: Objective evaluation of laparoscopic skills based on haptic information and tool\/tissue interactions. Computer Aided Surgery\u00a07(1), 49\u201361 (2002)","journal-title":"Computer Aided Surgery"},{"issue":"3","key":"30_CR15","doi-asserted-by":"publisher","first-page":"574","DOI":"10.1518\/001872006778606886","volume":"48","author":"J.O. Perreault","year":"2006","unstructured":"Perreault, J.O., Cao, C.G.L.: Effects of vision and friction on haptic perception. Human Factors\u00a048(3), 574\u2013586 (2006)","journal-title":"Human Factors"},{"issue":"4","key":"30_CR16","doi-asserted-by":"publisher","first-page":"426","DOI":"10.1109\/70.88057","volume":"5","author":"B. Hannaford","year":"1989","unstructured":"Hannaford, B.: A design framework for teleoperators with kinesthetic feedback. IEEE Transactions on Robotics and Automation\u00a05(4), 426\u2013434 (1989)","journal-title":"IEEE Transactions on Robotics and Automation"},{"issue":"5","key":"30_CR17","doi-asserted-by":"publisher","first-page":"624","DOI":"10.1109\/70.258054","volume":"9","author":"D.A. Lawrence","year":"1993","unstructured":"Lawrence, D.A.: Stability and transparency in bilateral teleoperation. IEEE Transactions on Robotics and Automation\u00a09(5), 624\u2013637 (1993)","journal-title":"IEEE Transactions on Robotics and Automation"},{"issue":"4","key":"30_CR18","doi-asserted-by":"publisher","first-page":"641","DOI":"10.1109\/TRA.2002.802199","volume":"18","author":"M.C. Cavusoglu","year":"2002","unstructured":"Cavusoglu, M.C., Sherman, A., Tendick, F.: Design of bilateral teleoperation controllers for haptic exploration and telemanipulation of soft environments. IEEE Transactions on Robotics and Automation\u00a018(4), 641\u2013647 (2002)","journal-title":"IEEE Transactions on Robotics and Automation"},{"issue":"3","key":"30_CR19","doi-asserted-by":"publisher","first-page":"96","DOI":"10.1581\/mrcas.2005.010305","volume":"1","author":"B. Kuebler","year":"2005","unstructured":"Kuebler, B., Seibold, U., Hirzinger, G.: Development of actuated and sensor integrated forceps for minimally invasive robotic surgery. International Journal of Medical Robotics and Computer Assisted Surgery\u00a01(3), 96\u2013107 (2005)","journal-title":"International Journal of Medical Robotics and Computer Assisted Surgery"},{"key":"30_CR20","doi-asserted-by":"crossref","unstructured":"Dollar, A.M., Wagner, C.R., Howe, R.D.: Embedded sensors for biomimetic robotics via shape deposition manufacturing. In: 1st IEEE\/RAS-EMBS Int. Conf. on Biomed. Rob. and Biomechatronics (BioRob), pp. 763\u2013768 (2006)","DOI":"10.1109\/BIOROB.2006.1639182"},{"key":"30_CR21","unstructured":"Saha, S.: Appropriate degrees of freedom of force sensing in robot-assisted minimally invasive surgery. Master\u2019s thesis, Dept. of Biomedical Eng., Johns Hopkins Univ. (2006)"},{"issue":"2","key":"30_CR22","doi-asserted-by":"publisher","first-page":"53","DOI":"10.1581\/mrcas.2005.010205","volume":"1","author":"M. Tavakoli","year":"2005","unstructured":"Tavakoli, M., Patel, R.V., Moallem, M.: Haptic interaction in robot-assisted endoscopic surgery: A sensorized end effector. International Journal of Medical Robotics and Computer Assisted Surgery\u00a01(2), 53\u201363 (2005)","journal-title":"International Journal of Medical Robotics and Computer Assisted Surgery"},{"issue":"2","key":"30_CR23","doi-asserted-by":"publisher","first-page":"143","DOI":"10.1109\/TMECH.2007.892831","volume":"12","author":"N. Zemiti","year":"2007","unstructured":"Zemiti, N., Morel, G., Ortmaier, T., Bonnet, N.: Mechatronic design of a new robot for force control in minimally invasive surgery. IEEE\/ASME Transactions on Mechatronics\u00a012(2), 143\u2013153 (2007)","journal-title":"IEEE\/ASME Transactions on Mechatronics"},{"issue":"1","key":"30_CR24","doi-asserted-by":"publisher","first-page":"1240","DOI":"10.1109\/TRO.2007.909825","volume":"23","author":"M. Mahvash","year":"2007","unstructured":"Mahvash, M., Okamura, A.M.: Friction compensation for enhancing transparency of a teleoperator with compliant transmission. IEEE Transactions on Robotics\u00a023(1), 1240\u20131246 (2007)","journal-title":"IEEE Transactions on Robotics"},{"key":"30_CR25","doi-asserted-by":"crossref","unstructured":"Mahvash, M., Okamura, A.M.: Enhancing transparency of a position-exchange teleoperator. In: 2nd World Haptics, pp. 470\u2013475 (2007)","DOI":"10.1109\/WHC.2007.47"},{"key":"30_CR26","doi-asserted-by":"crossref","unstructured":"Wagner, C.R., Howe, R.D.: Mechanisms of performance enhancement with force feedback. In: 1st World Haptics, pp. 21\u201329 (2005)","DOI":"10.1109\/WHC.2005.88"},{"key":"30_CR27","doi-asserted-by":"crossref","unstructured":"Semere, W., Kitagawa, M., Okamura, A.M.: Teleoperation with sensor\/actuator asymmetry: Task performance with partial force feedback. In: 12th Symp. on Haptic Int. for Virt. Env. Teleoperator Sys., pp. 121\u2013127 (2004)","DOI":"10.1109\/HAPTIC.2004.1287186"},{"key":"30_CR28","doi-asserted-by":"crossref","unstructured":"Verner, L.N., Okamura, A.M.: Effects of translational and gripping force feedback are decoupled in a 4-degree-of-freedom telemanipulator. In: 2nd World Haptics, pp. 286\u2013291 (2007)","DOI":"10.1109\/WHC.2007.46"},{"key":"30_CR29","doi-asserted-by":"crossref","unstructured":"Verner, L.N., Okamura, A.M.: Sensor\/actuator asymmetries in telemanipulators: Implications of partial force feedback. In: 14th Symp. on Haptic Interfaces for Virtual Env. and Teleoperator Sys., pp. 309\u2013314 (2006)","DOI":"10.1109\/HAPTIC.2006.1627132"},{"key":"30_CR30","series-title":"Lecture Notes in Computer Science","doi-asserted-by":"publisher","first-page":"279","DOI":"10.1007\/978-3-540-39899-8_35","volume-title":"Medical Image Computing and Computer-Assisted Intervention - MICCAI 2003","author":"S. Prasad","year":"2003","unstructured":"Prasad, S., Kitagawa, M., Fischer, G.S., Zand, J., Talamini, M.A., Taylor, R.H., Okamura, A.M.: A modular 2-dof force-sensing instrument for laparoscopic surgery. In: Ellis, R.E., Peters, T.M. (eds.) MICCAI 2003. LNCS, vol.\u00a02878, pp. 279\u2013286. Springer, Heidelberg (2003)"},{"issue":"1","key":"30_CR31","doi-asserted-by":"publisher","first-page":"151","DOI":"10.1016\/j.jtcvs.2004.05.029","volume":"129","author":"M. Kitagawa","year":"2005","unstructured":"Kitagawa, M., Dokko, D., Okamura, A.M., Yuh, D.D.: Effect of sensory substitution on suture manipulation forces for robotic surgical systems. Journal of Thoracic and Cardiovascular Surgery\u00a0129(1), 151\u2013158 (2005)","journal-title":"Journal of Thoracic and Cardiovascular Surgery"},{"key":"30_CR32","doi-asserted-by":"crossref","unstructured":"Schoonmaker, R.E., Cao, C.G.L.: Vibrotactile feedback enhances force perception in minimally invasive surgery. In: Human Factors and Ergonomics Society 50th Annual Meeting, pp. 1029\u20131033 (2006)","DOI":"10.1177\/154193120605001006"},{"issue":"1","key":"30_CR33","doi-asserted-by":"publisher","first-page":"196","DOI":"10.1016\/j.jtcvs.2007.08.043","volume":"135","author":"C.E. Reiley","year":"2008","unstructured":"Reiley, C.E., Akinbiyi, T., Burschka, D., Chang, D.C., Okamura, A.M., Yuh, D.D.: Effects of visual force feedback on robot-assisted surgical task performance. Journal of Thoracic and Cardiovascular Surgery\u00a0135(1), 196\u2013202 (2008)","journal-title":"Journal of Thoracic and Cardiovascular Surgery"},{"key":"30_CR34","doi-asserted-by":"crossref","unstructured":"Tavakoli, M., Aziminejad, A., Patel, R.V., Moallem, M.: Multi-sensory force\/deformation cues for stiffness characterization in soft-tissue palpation. In: 28th Ann. Int. Conf. IEEE Eng. in Med. and Bio. Soc., pp. 837\u2013840 (2006)","DOI":"10.1109\/IEMBS.2006.260292"},{"key":"30_CR35","series-title":"Springer Tracts in Advanced Robotics","doi-asserted-by":"publisher","first-page":"49","DOI":"10.1007\/978-3-540-48113-3_5","volume-title":"Robotics Research","author":"J.J. Abbott","year":"2007","unstructured":"Abbott, J.J., Marayong, P., Okamura, A.M.: Haptic virtual fixtures for robot-assisted manipulation. In: Robotics Research. Springer Tracts in Advanced Robotics, pp. 49\u201364. Springer, Heidelberg (2007)"},{"issue":"10","key":"30_CR36","doi-asserted-by":"publisher","first-page":"805","DOI":"10.1177\/0278364905057861","volume":"24","author":"G. De Gersem","year":"2005","unstructured":"De Gersem, G., Van Brussel, H., Tendick, F.: Reliable and enhanced stiffness perception in soft-tissue telemanipulation. International Journal of Robotics Research\u00a024(10), 805\u2013822 (2005)","journal-title":"International Journal of Robotics Research"},{"key":"30_CR37","doi-asserted-by":"crossref","unstructured":"Miller, A.P., Hammoud, Z., Son, J.S., Peine, W.J.: Tactile imaging system for localizing lung nodules during video assisted thoracoscopic surgery. In: IEEE International Conference on Robotics and Automation, pp. 2996\u20133001 (2007)","DOI":"10.1109\/ROBOT.2007.363927"},{"issue":"3","key":"30_CR38","doi-asserted-by":"publisher","first-page":"318","DOI":"10.1109\/51.391770","volume":"14","author":"R.D. Howe","year":"1995","unstructured":"Howe, R.D., Peine, W.J., Kontarinis, D.A., Son, J.S.: Remote palpation technology. IEEE Engineering in Medicine and Biology\u00a014(3), 318\u2013323 (1995)","journal-title":"IEEE Engineering in Medicine and Biology"},{"issue":"8","key":"30_CR39","doi-asserted-by":"publisher","first-page":"865","DOI":"10.1177\/0278364907080425","volume":"26","author":"J.J. Abbott","year":"2007","unstructured":"Abbott, J.J., Okamura, A.M.: Pseudo-admittance bilateral telemanipulation with guidance virtual fixtures. International Journal of Robotics Research\u00a026(8), 865\u2013884 (2007)","journal-title":"International Journal of Robotics Research"},{"issue":"6","key":"30_CR40","doi-asserted-by":"publisher","first-page":"419","DOI":"10.1177\/02783640122067471","volume":"20","author":"K. Hashtrudi-Zaad","year":"2001","unstructured":"Hashtrudi-Zaad, K., Salcudean, S.E.: Analysis of control architectures for teleoperation systems with impedance\/admittance master and slave manipulators. International Journal of Robotics Research\u00a020(6), 419\u2013445 (2001)","journal-title":"International Journal of Robotics Research"}],"container-title":["Springer Tracts in Advanced Robotics","Robotics Research"],"original-title":[],"link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-642-14743-2_30.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,2,28]],"date-time":"2025-02-28T08:52:33Z","timestamp":1740732753000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/978-3-642-14743-2_30"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2010]]},"ISBN":["9783642147425","9783642147432"],"references-count":40,"URL":"https:\/\/doi.org\/10.1007\/978-3-642-14743-2_30","relation":{},"ISSN":["1610-7438","1610-742X"],"issn-type":[{"type":"print","value":"1610-7438"},{"type":"electronic","value":"1610-742X"}],"subject":[],"published":{"date-parts":[[2010]]}}}