J Kenneth Salisbury, Jr.
Professor (Research) of Computer Science and of Surgery (Anatomy), Emeritus
Bio
Salisbury worked on the development of the Stanford-JPL Robot Hand, the JPL Force Reflecting Hand Controller, the MIT-WAM arm, and the Black Falcon Surgical Robot. His work with haptic interface technology led to the founding of SensAble Technology, producers of the PHANToM haptic interface and software. He also worked on the development of telerobotic systems for dexterity enhancement in the operating room. His current research focuses on human-machine interaction, cooperative haptics, medical robotics, and surgical simulation.
Professional Education
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PhD, Stanford University, Mechanical Engineering (1982)
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MS, Stanford University, Mechanical Engineering (1977)
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BS, Stanford University, Electrical Engineering (1975)
2024-25 Courses
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Independent Studies (13)
- Advanced Reading and Research
CS 499 (Aut, Win, Spr, Sum) - Advanced Reading and Research
CS 499P (Aut, Win, Spr, Sum) - Curricular Practical Training
CS 390A (Aut, Win, Spr, Sum) - Curricular Practical Training
CS 390B (Aut, Win, Spr, Sum) - Curricular Practical Training
CS 390C (Aut, Win, Spr, Sum) - Independent Project
CS 399 (Aut, Win, Spr, Sum) - Independent Project
CS 399P (Aut, Win, Spr, Sum) - Independent Work
CS 199 (Aut, Win, Spr, Sum) - Independent Work
CS 199P (Aut, Win, Spr, Sum) - Part-time Curricular Practical Training
CS 390D (Aut, Win, Spr, Sum) - Programming Service Project
CS 192 (Aut, Win, Spr, Sum) - Senior Project
CS 191 (Aut, Win, Spr, Sum) - Writing Intensive Senior Research Project
CS 191W (Aut, Win, Spr)
- Advanced Reading and Research
Stanford Advisees
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Doctoral Dissertation Reader (AC)
Crystal Winston -
Doctoral Dissertation Advisor (AC)
Connor Yako
All Publications
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Designing Underactuated Graspers with Dynamically Variable Geometry Using Potential Energy Map Based Analysis
IEEE. 2022: 4638-4645
View details for DOI 10.1109/IROS47612.2022.9982148
View details for Web of Science ID 000908368203062
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Towards Human Haptic Gesture Interpretation for Robotic Systems
IEEE. 2021: 7334-7341
View details for DOI 10.1109/IROS51168.2021.9636015
View details for Web of Science ID 000755125505119
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Design and Control of Roller Grasper V2 for In-Hand Manipulation
IEEE. 2020: 9151-9158
View details for DOI 10.1109/IROS45743.2020.9340953
View details for Web of Science ID 000724145803035
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Design of a Roller-Based Dexterous Hand for Object Grasping and Within-Hand Manipulation
IEEE. 2020: 8870-8876
View details for Web of Science ID 000712319505118
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Mechatronic design of an integrated robotic hand
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
2014; 33 (5): 706-720
View details for DOI 10.1177/0278364913515032
View details for Web of Science ID 000335548600004
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High-Fidelity, Inexpensive Surgical Middle Ear Simulator
OTOLOGY & NEUROTOLOGY
2012; 33 (9): 1573-1577
Abstract
A high-fidelity, inexpensive middle ear simulator could be created to enhance surgical training that would be rated as having high face validity by experts.With rapid prototyping using additive manufacturing technology (AMT), one can create high-resolution 3-dimensional replicas of the middle ear at low cost and high fidelity. Such a simulator could be of great benefit for surgical training, particularly in light of new resident training guidelines.AMT was used to create surgical middle ear simulator (SMS) with 2 different materials simulating bone and soft tissue. The simulator is composed of an outer box with dimensions of an average adult external auditory canal without scutum and an inner cartridge based on an otosclerosis model. The simulator was then rated by otology experts in terms of face validity and fidelity as well as their opinion on the usefulness of such a device.Eighteen otologists from 6 tertiary academic centers rated the simulator; 83.3% agreed or highly agreed that SMS has accurate dimensions and 66.6% that it has accurate tactile feedback. When asked if performance of stapedotomy with the SMS improves with practice, 46% agreed. As to whether practicing stapedotomy with the SMS translates to improvement with live surgery, 78% agreed with this statement. Experts' average rating of the components of SMS (of possible 5) was as follows: middle ear dimensions, 3.9; malleus, 3.7; incus, 3.6; stapes, 3.6; chorda tympani, 3.7; tensor tympani, 4.1; stapedius, 3.8; facial nerve, 3.7; and promontory, 3.5. Overall, 83% found SMS to be at least "very useful" in training of novices, particularly for junior and senior residents.Most experts found the SMS to be accurate, but there was a large discrepancy in rating of individual components. Most found it to be very useful for training of novice surgeons. With these results, we are encouraged to proceed with further refinements that will strengthen the SMS as a training tool for otologic surgery.
View details for DOI 10.1097/MAO.0b013e31826dbca5
View details for Web of Science ID 000311214500025
View details for PubMedID 23047262
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What You Can't Feel Won't Hurt You: Evaluating Haptic Hardware Using a Haptic Contrast Sensitivity Function
IEEE TRANSACTIONS ON HAPTICS
2011; 4 (2): 134-146
Abstract
In this paper, we extend the concept of the contrast sensitivity function - used to evaluate video projectors - to the evaluation of haptic devices. We propose using human observers to determine if vibrations rendered using a given haptic device are accompanied by artifacts detectable to humans. This determination produces a performance measure that carries particular relevance to applications involving texture rendering. For cases in which a device produces detectable artifacts, we have developed a protocol that localizes deficiencies in device design and/or hardware implementation. In this paper, we present results from human vibration detection experiments carried out using three commercial haptic devices and one high performance voice coil motor. We found that all three commercial devices produced perceptible artifacts when rendering vibrations near human detection thresholds. Our protocol allowed us to pinpoint the deficiencies, however, and we were able to show that minor modifications to the haptic hardware were sufficient to make these devices well suited for rendering vibrations, and by extension, the vibratory components of textures. We generalize our findings to provide quantitative design guidelines that ensure the ability of haptic devices to proficiently render the vibratory components of textures.
View details for DOI 10.1109/ToH.2011.5
View details for Web of Science ID 000291396300006
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A Friction Differential and Cable Transmission Design for a 3-DOF Haptic Device with Spherical Kinematics
IEEE/RSJ International Conference on Intelligent Robots and Systems
IEEE. 2011
View details for Web of Science ID 000297477502139
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Demonstrating the Benefits of Variable Impedance to Telerobotic Task Execution
IEEE International Conference on Robotics and Automation (ICRA)
IEEE. 2011: 1348–1353
View details for Web of Science ID 000324383400080
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A virtual surgical environment for rehearsal of tympanomastoidectomy.
Studies in health technology and informatics
2011; 163: 112-118
Abstract
This article presents a virtual surgical environment whose purpose is to assist the surgeon in preparation for individual cases. The system constructs interactive anatomical models from patient-specific, multi-modal preoperative image data, and incorporates new methods for visually and haptically rendering the volumetric data. Evaluation of the system's ability to replicate temporal bone dissections for tympanomastoidectomy, using intraoperative video of the same patients as guides, showed strong correlations between virtual and intraoperative anatomy. The result is a portable and cost-effective tool that may prove highly beneficial for the purposes of surgical planning and rehearsal.
View details for PubMedID 21335772
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In Vivo Micro-Image Mosaicing
IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING
2011; 58 (1): 159-171
Abstract
Recent advances in optical imaging have led to the development of miniature microscopes that can be brought to the patient for visualizing tissue structures in vivo. These devices have the potential to revolutionize health care by replacing tissue biopsy with in vivo pathology. One of the primary limitations of these microscopes, however, is that the constrained field of view can make image interpretation and navigation difficult. In this paper, we show that image mosaicing can be a powerful tool for widening the field of view and creating image maps of microanatomical structures. First, we present an efficient algorithm for pairwise image mosaicing that can be implemented in real time. Then, we address two of the main challenges associated with image mosaicing in medical applications: cumulative image registration errors and scene deformation. To deal with cumulative errors, we present a global alignment algorithm that draws upon techniques commonly used in probabilistic robotics. To accommodate scene deformation, we present a local alignment algorithm that incorporates deformable surface models into the mosaicing framework. These algorithms are demonstrated on image sequences acquired in vivo with various imaging devices including a hand-held dual-axes confocal microscope, a miniature two-photon microscope, and a commercially available confocal microendoscope.
View details for DOI 10.1109/TBME.2010.2085082
View details for Web of Science ID 000285515500020
View details for PubMedID 20934939
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Visual Vein-Finding for Robotic IV Insertion
IEEE International Conference on Robotics and Automation (ICRA)
IEEE. 2010: 4597–4602
View details for Web of Science ID 000284150003004
- Reconstruction and exploration of virtual middle-ear models derived from Micro-CT datasets. Hearing Res. 2010; 1–2 (263): 198–203
- Intelligent Road Sign Detection Using 3D Scene Geometry 2010
- Using Near-Field Stereo Vision for Robotic Grasping in Cluttered Environments 2010
- Laser Cutting Speeds Robotics Prototyping Product Design and Development 2010
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Telerobotic System Concept for Real-Time Soft-Tissue Imaging During Radiotherapy Beam Delivery
Med. Phys.
2010; 37: 6357
View details for DOI 10.1118/1.3515457
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Multi-DOF Equalization of Haptic Devices for Accurate Rendering at High Frequencies
IEEE/RSJ International Conference on Intelligent Robots and Systems
IEEE. 2010
View details for Web of Science ID 000287672005085
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Configuration Tracking for Continuum Manipulators With Coupled Tendon Drive
IEEE TRANSACTIONS ON ROBOTICS
2009; 25 (4): 798-808
View details for DOI 10.1109/TRO.2009.2022426
View details for Web of Science ID 000268757400004
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Task-Space Control of Continuum Manipulators with Coupled Tendon Drive
11th International Symposium on Experimental Robotics (ISER)
SPRINGER-VERLAG BERLIN. 2009: 271–280
View details for Web of Science ID 000268803300026
- Integration of Patient- Specific Paranasal Sinus Computed Tomographic Data Into a Virtual Surgical Environment American Journal of Rhinology & Allergy OceanSide Publications, Inc.. 2009: 442–447
- Effects of Haptic Device Attributes on Psychophysical Detection Thresholds of Sinusoidal Vibrations 2009
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Effects of Haptic Device Attributes on Vibration Detection Thresholds
3rd Joint EuroHaptics Conference Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
IEEE. 2009: 115–120
View details for Web of Science ID 000266714300021
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Mechanics Modeling of Tendon-Driven Continuum Manipulators
IEEE TRANSACTIONS ON ROBOTICS
2008; 24 (6): 1262-1273
View details for DOI 10.1109/TRO.2008.2002311
View details for Web of Science ID 000262220900002
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Towards a personal robotics development platform: Rationale and design of an intrinsically safe personal robot
IEEE International Conference on Robotics and Automation
IEEE. 2008: 2165–2170
View details for Web of Science ID 000258095001139
- A Microsurgery-Specific Haptic Device for Telerobotic Medical Treatment 2008
- Voxel-Based Haptic Rendering Using Implicit Sphere Trees 2008
- Providing Metrics and Performance Feedback in a Surgical Simulator Computer Aided Surgery (2008) 2008; 13 (2): 63–81
- Real-Time Image Mosaicing with a Dual-Axes Confocal Microscope 2008
- Automatic Preparation, Calibration, and Simulation of Deformable Objects Computer Methods in Biomechanics and Biomedical Engineering (Taylor & Francis Publishing) 2008; 11 (4): 263–279
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Force Control of a Permanent Magnet for Minimally-Invasive Procedures
2nd Biennial IEEE RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2008)
IEEE. 2008: 580–586
View details for Web of Science ID 000270540400096
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Large workspace haptic devices - A new actuation approach
16th Symposium on Haptics Interfaces for Virtual Environment and Teleoperator Systems
IEEE COMPUTER SOC. 2008: 185–192
View details for Web of Science ID 000254949300027
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Vision based 3-D shape sensing of flexible manipulators
IEEE International Conference on Robotics and Automation
IEEE. 2008: 2940–2947
View details for Web of Science ID 000258095002034
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Pushing using learned manipulation maps
IEEE International Conference on Robotics and Automation
IEEE. 2008: 3808–3813
View details for Web of Science ID 000258095002173
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Difference-based Estimation of Support Friction
IEEE/RSJ International Conference on Intelligent Robots and Systems
IEEE. 2008: 59–64
View details for Web of Science ID 000259998200010
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Real-Time Image Mosaicing for Medical Applications
15th Conference on Medicine Meets Virtual Reality
I O S PRESS. 2007: 304–309
Abstract
In this paper we describe the development of a robotically-assisted image mosaicing system for medical applications. The processing occurs in real-time due to a fast initial image alignment provided by robotic position sensing. Near-field imaging, defined by relatively large camera motion, requires translations as well as pan and tilt orientations to be measured. To capture these measurements we use 5-d.o.f. sensing along with a hand-eye calibration to account for sensor offset. This sensor-based approach speeds up the mosaicing, eliminates cumulative errors, and readily handles arbitrary camera motions. Our results have produced visually satisfactory mosaics on a dental model but can be extended to other medical images.
View details for Web of Science ID 000270613800069
View details for PubMedID 17377290
- The Probabilistic Robotics Studio: Interactive Robot Programming 2007
- Haptic Feedback Enhances Force Skill Learning 2007
- Deformable Image Mosaicing for Optical Biopsy 2007
- An Optical Fiber Proximity Sensor for Haptic Exploration Robotics and Automation, 2007 IEEE International Conference on Robotics and Automation 2007: 473–478
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Validating Metrics for a Mastoidectomy Simulator
15th Conference on Medicine Meets Virtual Reality
I O S PRESS. 2007: 421–426
Abstract
One of the primary barriers to the acceptance of surgical simulators is that most simulators still require a significant amount of an instructing surgeon's time to evaluate and provide feedback to the students using them. Thus, an important area of research in this field is the development of metrics that can enable a simulator to be an essentially self-contained teaching tool, capable of identifying and explaining the user's weaknesses. However, it is essential that these metrics be validated in able to ensure that the evaluations provided by the "virtual instructor" match those that the real instructor would provide were he/she present. We have previously proposed a number of algorithms for providing automated feedback in the context of a mastoidectomy simulator. In this paper, we present the results of a user study in which we attempted to establish construct validity (with inter-rater reliability) for our simulator itself and to validate our metrics. Fifteen subjects (8 experts, 7 novices) were asked to perform two virtual mastoidectomies. Each virtual procedure was recorded, and two experienced instructing surgeons assigned global scores that were correlated with subjects' experience levels. We then validated our metrics by correlating the scores generated by our algorithms with the instructors' global ratings, as well as with metric-specific sub-scores assigned by one of the instructors.
View details for Web of Science ID 000270613800095
View details for PubMedID 17377316
- The Effect of Virtual Haptic Training on Real Surgical Drilling Proficiency 2007
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Evaluating Drilling and Suctioning Technique in a Mastoidectomy Simulator
15th Conference on Medicine Meets Virtual Reality
I O S PRESS. 2007: 427–432
Abstract
This paper presents several new metrics related to bone removal and suctioning technique in the context of a mastoidectomy simulator. The expertise with which decisions as to which regions of bone to remove and which to leave intact is evaluated by building a Naïve Bayes classifier using training data from known experts and novices. Since the bone voxel mesh is very large, and many voxels are always either removed or not removed regardless of expertise, the mutual information was calculated for each voxel and only the most informative voxels used for the classifier. Leave-out-one cross validation showed a high correlation of calculated expert probabilities with scores assigned by instructors. Additional metrics described in this paper include those for assessing smoothness of drill strokes, proper drill burr selection, sufficiency of suctioning, two-handed tool coordination, and application of appropriate force and velocity magnitudes as functions of distance from critical structures.
View details for Web of Science ID 000270613800096
View details for PubMedID 17377317
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An optical fiber proximity sensor for haptic exploration
IEEE International Conference on Robotics and Automation
IEEE. 2007: 473–478
View details for Web of Science ID 000250915300076
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Stability of haptic rendering: Discretization, quantization, time delay, and Coulomb effects
IEEE International Conference on Robotics and Automation (ICRA)
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC. 2006: 256–68
View details for DOI 10.1109/TRO.2005.862487
View details for Web of Science ID 000236776800004
- Visuohaptic Simulation of Bone Surgery for Training and Evaluation IEEE Computer Graphics and Applications 2006; 26 (4): 48–57
- Force-Direction Discrimination is Not Influenced by Reference Force Direction The Electronic Journal of Haptics Research (www.haptics-e.org) 2006; 4 (1)
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Achieving Proper Exposure in Surgical Simulation
14th Conference on Medicine Meets Virtual Reality
I O S PRESS. 2006: 497–502
Abstract
One important technique common throughout surgery is achieving proper exposure of critical anatomic structures so that their shapes, which may vary somewhat among patients, can be confidently established and avoided. In this paper, we present an algorithm for determining which regions of selected structures are properly exposed in the context of a mastoidectomy simulation. Furthermore, our algorithm then finds and displays all other points along the surface of the structure that lie along a sufficiently short and straight path from an exposed portion such that their locations can be safely inferred. Finally, we present an algorithm for providing realistic visual cues about underlying structures with view-dependent shading of the bone.
View details for Web of Science ID 000269690200106
View details for PubMedID 16404107
- Haptic Discrimination of Force Direction and the Influence of Visual Information ACM Transactions on Applied Perception 2006; 3 (2): 125–135
- Isotropy and Visual Modulation of Haptic Force Direction Discrimination on the Human Finger 2006
- Haptically Annotated Movies: Reaching Out and Touching the Silver Screen 2006
- A Limit-Curve Based Soft Finger god-object Algorithm 2006
- Virtual 3D Planning and Guidance of Mandibular Distraction Osteogenesis Computer Aided Surgery 2006; 2 (11): 51-62
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The effect of quantization and Coulomb friction on the stability of haptic rendering
1st Joint Eurohaptics Conference/Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
IEEE COMPUTER SOC. 2005: 237–246
View details for Web of Science ID 000228426200034
- A Multirate Approach to Haptic Interaction with Deformable Objects Single and Multipoint Contacts 2005
- Multi-Point Interaction in Robotics and Virtual-Reality, Springer-Verlag in their STAR (Springer Tracts on Advanced Robotics) series edited by Barbagli, F., Salisbury, K., Prattichizzo, D. Springer Verlag. 2005
- Multi-point Interaction with Real and Virtual Objects Springer Tracts in Advanced Robotics edited by Barbagli, F., Prattichizzo, D., Salisbury, K. 2005; 18
- An Interactive Simulation Environment for Craniofacial Surgical Procedures 2005
- Force-feedback in Craniofacial Surgery Simulation 2005
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Quantifying Risky Behavior in Surgical Simulation
13th Conference on Medicine Meets Virtual Reality
I O S PRESS. 2005: 451–457
Abstract
Evaluating a trainee's performance on a simulated procedure involves determining whether a specified objective was met while avoiding certain "injurious" actions that damage vulnerable structures. However, it is also important to teach the stylistic behaviors that minimize overall risk to the patient, even though these criteria may be more difficult to explicitly specify and detect. In this paper, we address the development of metrics that evaluate the risk in a trainee's behavior while performing a simulated mastoidectomy. Specifically, we measure the trainee's ability to maintain an appropriate field of view so as to avoid drilling bone that is hidden from view, as well as to consistently apply appropriate forces and velocities. Models of the maximum safe force and velocity magnitudes as functions of distances from key vulnerable structures are learned from model procedures performed by an expert surgeon on the simulator. In addition to quantitatively scoring the trainee's performance, these metrics allow for interactive 3D visualization of the performance by distinctive coloring of regions in which excessive forces or velocities were applied or insufficient visibility was maintained, enabling the trainee to pinpoint his/her mistakes and how to correct them. Although these risky behaviors relate to a mastoidectomy simulator, the objectives of maintaining visibility and applying safe forces and velocities are common in surgery, so it may be possible to extend much of this methodology to other procedures.
View details for Web of Science ID 000273828700090
View details for PubMedID 15718777
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A criterion for the passivity of haptic devices
IEEE International Conference on Robotics and Automation (ICRA)
IEEE. 2005: 2452–2457
View details for Web of Science ID 000235460102010
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Robotic technology in surgery: past, present, and future
AMERICAN JOURNAL OF SURGERY
2004; 188 (4A): 2S-15S
Abstract
It has been nearly 20 years since the first appearance of robotics in the operating room. In that time, much progress has been made in integrating robotic technologies with surgical instrumentation, as evidenced by the many thousands of successful robot-assisted cases. However, to build on past success and to fully leverage the potential of surgical robotics in the future, it is essential to maximize a shared understanding and communication among surgeons, engineers, entrepreneurs, and healthcare administrators. This article provides an introduction to medical robotic technologies, develops a possible taxonomy, reviews the evolution of a surgical robot, and discusses future prospects for innovation. Robotic surgery has demonstrated some clear benefits. It remains to be seen where these benefits will outweigh the associated costs over the long term. In the future, surgical robots should be smaller, less expensive, easier to operate, and should seamlessly integrate emerging technologies from a number of different fields. Such advances will enable continued progress in surgical instrumentation and, ultimately, surgical care.
View details for DOI 10.1016/j.amjsung.2004.08.025
View details for Web of Science ID 000224479800003
View details for PubMedID 15476646
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Playing it safe
IEEE ROBOTICS & AUTOMATION MAGAZINE
2004; 11 (2): 12-21
View details for Web of Science ID 000222429600004
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A new actuation approach for human friendly robot design
8th International Symposium on Experimental Robotics (ISER 02)
SAGE PUBLICATIONS LTD. 2004: 379–98
View details for DOI 10.1177/0278364904042193
View details for Web of Science ID 000221631700007
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An event-driven framework for the simulation of complex surgical procedures
7th International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI 2004)
SPRINGER-VERLAG BERLIN. 2004: 346–354
View details for Web of Science ID 000224322400043
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Haptic Rendering: Beyond Visual Computing
edited by Lin, Srinivasan
2004
View details for DOI 24
- Evaluating Haptics and Haptic Virtual Environments and their Applications (HAVE 2004), Ottawa 2004
- A Collaborative Virtual Environment for the Simulation of Temporal Bone Surgery 2004
- Simulating Human Fingers: a Soft Finger Proxy Model and Algorithm 2004
- New Actuation Approach for Human-friendly Robot Design International Journal of Robotics Research 2004; 4/5 (23): 379–398
- Haptic Rendering: Introductory Concepts in Haptic Rendering: Beyond Visual Computing, Special Issue of IEEE Computer Graphics and Applications 2004; 24 (2): 24–32
- Training the Cognitive and Stylistic Aspects of Surgery Through Simulation 2004
- Toward Virtual Manipulation: From One Point of Contact to Four Sensor Review (special issue on Haptic Devices) 2004; 24 (1): 51–59
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A collaborative virtual environment for the simulation of temporal bone surgery
7th International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI 2004)
SPRINGER-VERLAG BERLIN. 2004: 319–327
View details for Web of Science ID 000224322400040
- A Collaborative Virtual Environment for the Simulation of Temporal Bone Surgery 2004
- An Event-Driven Framework for the Simulation of Complex Surgical Procedures 2004
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Actuation methods for human-centered robotics and associated control challenges
2nd International Workshop on Control Problems in Robotics and Automation
SPRINGER-VERLAG BERLIN. 2003: 105–119
View details for Web of Science ID 000181073300007
- Enabling Multi-finger, Multi-hand Virtualized Grasping 2003
- Toward Virtual Manipulation: From One Point of Contact to Four 2003
- The CHAI Libraries 2003
- Dynamic Local Models for Stable Multi-Contact Haptic Interaction with Deformable Objects 2003
- Soft-Tissue Simulation Using the Radial Elements Method edited by Ayache, N., Delingette, H. 2003
- Haptic Interaction to Simulate Complex Surgical Procedures 2003
- Phantom-X 2003
- The Effect of Sensor/Actuator Asymmetries in Haptic Interfaces 2003
- Large Haptic Topographic Maps: MarsView and the Proxy Graph Algorithm 2003
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A new actuation approach for human friendly robot design
8th International Symposium on Experimental Robotics (ISER 02)
SPRINGER-VERLAG BERLIN. 2003: 113–122
View details for Web of Science ID 000181801300009
- Dynamic Simulation of Deformable Objects Using the Long Elements Method 2002
- Multirate analysis of Haptic Interaction Stability with Deformable Objects 2002
- LEM - An Approach for Real Time Physically Based Soft Tissue Simulation. 2001
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Comparision of three high-end endoscopic visualization systems on telesurgical performance
3rd International Conference on Medical Image Computing and Computer-Assisted Intervention
SPRINGER-VERLAG BERLIN. 2000: 385–394
View details for Web of Science ID 000171938700039
- Optimized Port Placement for the Totally Endoscopic Coronary Artery Bypass Grafting using the da Vinci Robotic System 2000
- The Intuitive Telesurgery System: Overview and Application 2000
- Telerobotically Enhanced Surgical Dexterity 2000
- In vivo mechanical tissue property measurement for improved simulations edited by Suresh, R., Pien, H., H. 2000
- Input and Output for Surgical Simulation: Devices to Measure Tissue Properties in vivo and a Haptic Interface for Laparoscopy Simulators 2000
- Development of a 5-DOF force feedback laparoscopic interface for simulation and telesurgery edited by Suresh, R., Pien, H., H. 2000
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Macro-micro control to improve bilateral force-reflecting teleoperation
6th International Symposium on Experimental Robotics
SPRINGER-VERLAG LONDON LTD. 2000: 413–422
View details for Web of Science ID 000086068500040
- Making Graphics Physically Tangible Making Graphics Physically Tangible 1999; 42 (8): 75–81
- Dexterity Enhancement in Endoscopic Surgery by a Computer Controlled Mechanical Wrist Min Inv Therapy & Allied Technology 1999; 4 (8): 235–242
- Proceedings of the Fourth PHANTOM Users Group Workshop edited by Salisbury, Srinivasan, J. K. 1999
- Touching and Being Touched: Robot Hands, Arms and Haptic Interfaces 1999
- Obstacle Negotiation in Robotic Excavation 1999
- Design and Clinical Experience with Teleoperated Minimaly Invasive Surgical Robots 1999
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The Black Falcon: A teleoperated surgical instrument for minimally invasive surgery
IEEE/RSJ International Conference on Intelligent Robots and Systems
IEEE. 1998: 936–944
View details for Web of Science ID 000077035300149
- Touching and Being Touched: Robot Hands, Arms and Haptic Interfaces 1998
- Touching and Being Touched: Robot Hands, Arms and Haptic Interfaces 1998
- The heart of microsurgery Mechanical Engineering Magazine 1998; 12 (120): 47–51
- Medical Miracles for the Next Millennium LIFE Magazine Special Issue, Fall 1998. Report on Telesurgical System that Salisbury helped develop 1998
- Parallel Coupled Micro-Macro Actuators International Journal of Robotics Research 1998; 17 (7): 773–791
- Proceedings of the Third PHANToM Users Group Workshop edited by Salisbury, Srinivasan, J. K. 1998
- Scientific and Technical Report: Development of Haptic Interfaces Contract: N61339-96-K-0002, CDRL Number: A002 Naval Air Warfare Center Training Systems Division, ORLANDO, FL 1997
- Hot and Cold Running VR: Adding Thermal Stimuli to the Haptic Experience 1997
- Phantom-Based Haptic Interaction with Virtual Objects IEEE Computer Graphics and Applications 1997; 17 (5): 6–10
- Haptic Geology 1997
- Look and Feel: Haptic Interaction for Biomedicine Progress Report for the period October 1, 1996 through September 30, 1997, ARPA Contract Number DAMD17-94-C-4123 1997
- Toward Dexterous Gaits and Hands 1997
- Experimental Robotics IV: The 4th International Symposium edited by Khatib, O., Salisbury, J., K. Springer-Verlag. 1997
- From Force Control to Force Display 1997
- Haptic Rendering of Implicit Surfaces 1997
- Proceedings of the Second PHANToM Users Group Workshop edited by Salisbury, Srinivasan, J. K. 1997
- Texture Sensing and Simulation Using the PHANToM: Towards Remote Sensing of Soil Properties 1997
- Haptic Rendering of Surfaces Defined by Implicit Functions 1997
- A Unified Approach to Haptic Rendering and Collision Detection 1997
- Proceedings of the First PHANToM Users Group Workshop edited by Salisbury, Srinivasan, J. K. 1996
- Performance Measurements for Robotic Actuators 1996
- Autonomous Rock Acquisition 1996
- An Overview of Haptics Research at MIT’s AI Lab. edited by Salisbury, J., K., Srinivasan, M., A. 1996
- Cooperative Control Of Multiple Robots to Manipulate Objects 1996
- Look and Feel: Haptic Interaction for Biomedicine Progress Report for the period October 1, 1995 through September 30, 1996, ARPA Contract Number DAMD17-94-C-4123 1996
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RECRUITMENT OF MATERNAL GAMMA-TUBULIN TO THE BOVINE SPERM CENTROSOME
AMER SOC CELL BIOLOGY. 1995: 227–227
View details for Web of Science ID A1995TF51300226
- In Pursuit of Dynamic Range: Using Parallel Coupled Actuators to Overcome Hardware Limitations 1995
- Grasp Quality Analysis 1995
- A Constraint-Based God Object Method for Haptic Display 1995
- Parallel Coupled Actuators for High Performance Force Control: A Micro-Macro Concept 1995
- Look and Feel: Haptic Interaction for Biomedicine Progress Report for the period October 1, 1994 through September 30, 1995, ARPA Contract Number DAMD17- 94-C-4123 1995
- Reorienting Objects with a Robot Hand Using Grasp Gaits 1995
- Haptic Rendering: Programming Touch Interaction with Virtual Objects 1995
- Application of Change Detection to Dynamic Contact Sensing International Journal of Robotics Research 1994; 12 (5): 369–394
- The PHANToM Haptic Interface: A Device for Probing Virtual Objects 1994
- The PHANToM Haptic Interface 1994
- Contact Sensing from Force Measurements International Journal of Robotics Research 1993; 12 (3): 249–262
- Application of Change Detection to Dynamic Contact Sensing MIT AI Lab Memo No. 1421 1993
- 3 Grasps 1993
- Segmentation and Interpretation of Temporal Contact Force Signals 1993
- Implementation of Behavorial Control on a Robot Hand/Arm System 1992
- Automatic Grasping and Whole Arm Manipulation 1992
- Experimental Evaluation of Friction Characteristics with an Articulated Robotic Hand 1992
- Dynamic Modeling, Simulation and Parameter Identification for the WAM Arm MIT AI Lab Memo No. 1387 1992
- Automatic Grasping and Whole Arm Manipulation 1992
- co-chair and speaker at MIT Industrial Liaison Program Telerobotics Symposium 1991
- Line Kinematics for Whole-Arm Manipulation AI Memo No. 1255 1991
- Whole-Arm Control and Utilization in Hazardous Environments, The Application of Robotics to the Handling of Hazardous Wastes, Materials, and Equipment 1991
- An Algorithm for the Control of a Hand-Arm Robotic Systems 1991
- Contact Sensing from Force Measurements MIT AI Lab Memo No. 1262 1990
- Using an Articulated Hand to Manipulate Objects Artificial Intelligence at MIT: Expanding Frontiers edited by Winston, P. H., Shellard, S. A. MIT Press. 1990: 211–227
- Automatic Grasping and Whole Arm Manipulation 1990
- Exploiting the Redundancy of an Hand-Arm Robotic System AI Memo No. 1261, Artificial Intelligence Laboratory, MIT, Cambridge MA 1990
- Exploiting the Redundancy of a Hand-Arm Robotic System AI Memo No. 1261 1990
- How Not To Make A Bad Situation Worse 1990
- Criterion for the Optimal Design of Multiaxis Force Sensors MIT AI Lab Memo No. 1263 1990
- Analysis and Implementation of Robust Grasping Behaviors NASA/JSC Progress Report 1990
- Whole-Arm Manipulation and Sensing 1990
- Determination of Manipulator Contact Information from Joint Torque Measurements edited by Hayward, V., Khatib, O. 1990
- An Experimental Whole-Arm Manipulator Artificial Intelligence at MIT: Expanding Frontiers edited by Winston, P. H., Shellard, S. A. MIT Press. 1990: 229–249
- Contact Sensing Palm for the Salisbury Hand Progress Report 2, Sandia Contract No. 75-2608 1990
- Exploiting the Redundancy of a Hand/Arm Robotic System A.I. Memo No. 1261, Artificial Intelligence Laboratory, M.I.T., Cambridge, MA 1990
- Overview of Hand and Arm Research at MIT 1990
- Force Sensing Fingertip Investigation Progress Report 1, Sandia Contract No. 23-2299 1989
- Whole Arm Manipulation: Mechanics and Control 1989
- The Design and Control of an Experimental Whole-Arm Manipulator 1989
- Hands: An Automatic Grasping Approach NASA 1989
- Augmentation of Grasp Robustness Using Intrinsic Tactile Sensing 1989
- Mechanical Bandwidth as a Guideline to High-Performance Manipulator Design 1989
- Experiments in Force Control of Robotic Manipulators The Robotics Review 1 edited by Khatib, O., Craig, J., J., Lozano-P´erez, T. MIT Press. 1989
- Fundamentals of Dextrous Manipulation 1989
- Design of an Actively Compliant Manipulator 1989
- Using an Articulated Hand to Manipulate Objects Robotics Science edited by Michael, B. MIT Press. 1989: 540–562
- Analysis and Construction of Contact and Tactile Sensors Contractor report SAND87-7120, Sandia National Laboratories 1989
- Flight Qualification Issues for the JPL Force Reflecting Hand Controller 1988
- Why Can’t a Robot Be More Like a Man 1988
- The Efficiency Limit of Belt and Cable Drives ASME Journal of Mechanisms, Transmissions, and Automation in Design 1988; 110: 303–307
- Remote Robot Hand and Arm Challenges 1988
- Overview of Hand and Arm Research at MIT’s AI Lab 1988
- MIT WAM Arm 1988
- Articulated Hands: Force Control and Kinematic Issues Natural Computation, Natural Computation edited by Whitman, R. MIT Press. 1988: 4–17
- System Design of WHOI/MIT Whole Arm Manipulator 1988
- Overview of Hand Control 1988
- Teleoperator Hand Calibration 1988
- Control Architecture for Implementing Hand Reflex Control 1988
- Issues in Human/Computer Control of Dextrous Remote Hands Transactions on Aerospace and Electronic Systems 1988: 591–596
- Manipulation of Multiple Fingers 1988
- Preliminary Design of a Whole-Arm Manipulation System (WAM) 1988
- Issues in Human/Computer Control of Dextrous Remote Hands 1987
- Analytical and Experimental Techniques for Articulated Hand Design 1987
- Whole Arm Manipulation 1987
- Model-X Force-Reflecting Hand Controller MIT AI Lab 1987
- Design for Force Control 1987
- Design Proposal for Dextrous Underwater Manipulator 1987
- Whole Arm Manipulation 1987
- Integration of Touch Sensing with Articulated Hands 1987
- Film of Salisbury Hand at Boston Computer Museum 1987
- Integration of Hand and Arm Control for Space Applications 1987
- Segment on Salisbury Hand 1987
- The Effect of Coulomb Friction and Stiction on Force Control 1987
- Film of Salisbury Hand at Boston Museum of Science 1987
- invited discussant Ro.Man.Sy 1986 1986
- Nerves of Steel 1986
- New Design Ideas for the JPL Force Reflecting Hand Controller 1986
- Integrated Language, Sensing and Control for a Robot Hand 1986
- Autonomous and Human Controlled Robot Hands 1986
- Force Reflecting Articulated Hand Masters 1986
- An Experimentation Environment for Robot Hand Manipulation 1985
- Design and Control of a Redundant Mechanism for Small Motion 1985
- Kinematic and Force Analysis or Articulated Hands Recent Advances in Robotics edited by Beni, G., Hackwood, S. John Wiley and Sons. 1985: 131–174
- Hand Grip Design for a Force Reflecting Master 1985
- Taking the Biscuit 1985
- An Experimentation Environment for Robot Hand Manipulation 1985
- Potentials for Dextrous Remote Manipulation 1985
- Dextrous Robot Hand MIT Industrial Liaison Office 1985
- Miraculous Machines 1985
- Design, Sensor, and Control Issues for Grasping and Manipulation with a Robot Hand 1985
- Robot Hands and the Mechanics of Manipulation M.I.T. Press, Cambridge. 1985
- An Experimentation Environment for Robot Hand Manipulation 1985
- Articulated Hand Design and Control 1984
- Articulated Hand Design and Control 1984
- Robot Hand Kinematic Analysis 1984
- Design and Control of an Articulated Hand 1984
- Force and Position Control of a Robot Hand 1984
- Robot Hand Control 1984
- Interpretation of Contact Geometries from Force Measurements 1984
- invited discussant 1984
- Interpretation of Contact Geometries from Force Measurements 1984
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KINEMATIC AND FORCE ANALYSIS OF ARTICULATED MECHANICAL HANDS
JOURNAL OF MECHANISMS TRANSMISSIONS AND AUTOMATION IN DESIGN-TRANSACTIONS OF THE ASME
1983; 105 (1): 35-41
View details for Web of Science ID A1983SK93600007
- Controlling Remote Manipulators Through Kinesthetic Coupling ASME Computers in Mechanical Engineering 1983; 2 (1): 48–60
- The Design of the Stanford/JPL Hand 1983
- A Novel Contact Sensing Approach 1983
- Articulated Hand Kinematic and Force Analysis 1983
- The Design of the Stanford/JPL Hand 1983
- A Robot Hand Design and Control Framework 1982
- Articulated Hands: Force Control and Kinematic Issues International Journal of Robotics Research MIT Press, Cambridge, MA, Spring. 1982: 4–17
- Design and Control of a Robot Hand 1982
- Kinematic and Force Analysis of Articulated Mechanical Hands 1982
- Dexterous Hand for a Robot 1982
- The Design and Control of a Dexterous Mechanical Hand 1981
- Controlling Remote Manipulators Through Kinesthetic Coupling 1980
- Study to Design and Develop Remote Manipulator Systems Stanford Research Institute Report, NAS2-8652, Quaterly Reports 7 & 8 1977
- Remote Manipulator Performance Measures and Display Design NASA/Ames Research Center Report 1975
- An Interactive Simulation Environment for Craniofacial Surgical Procedures
- Visuohaptic Simulation of Bone Surgery Stanford University Department of Computer Science Technical Report 2006-13
- Multi-Contact Haptic Interaction with Deformable Objects: a Multi-rate Approach chapter in Robotics Research XI - STAR (Springer Tracts on Advanced Robotics) Springer-Verlag.