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The Black Falcon: a teleoperated surgical instrument for minimally invasive surgery
Abstract
This paper presents the Black Falcon, an eight degree-of-freedom teleoperator slave with a dextrous wrist for minimally invasive surgery (MIS). We show how teleoperation can address several key problems in MIS by increasing dexterity and degrees of freedom, by giving the surgeon some force feedback to feel instrument-tissue interactions and by eliminating geometric discrepancies between actual and observed tool motions. We discuss relevant design constraints, summarize the mechanism design and give data showing the quality of force reflection achieved. We demonstrate suturing along arbitrarily oriented suture lines in animal tissue, a task essentially impossible using current instruments.
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Cited by
Origins of Robotic Surgery: From Skepticism to Standard of Care
George, E. I., Brand, T. C., LaPorta, A., Marescaux, J., & Satava, R. M. (2018) · JSLS : Journal of the Society of Laparoendoscopic Surgeons · doi:10.4293/jsls.2018.00039 · Cited by 312
Haptic techniques for media control
Snibbe, S. S., MacLean, K. E., Shaw, R., Roderick, J., Verplank, W. L., & Scheeff, M. (2001) · Proceedings of the 14th annual ACM symposium on User interface software and technology · doi:10.1145/502348.502387 · Cited by 77
Metadata
- Authors
- Madhani, A. J., Niemeyer, G., & Salisbury, J. K.
- Venue
- Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190)
- Publisher
- IEEE
- Published
- 2002-11-27
- Volume
- 2
- Pages
- 936-944
- OpenAlex
- W2114428836
- Cited by
- 291
- References
- 0
- FWCI
- 21.69
- Type
- conference paper
- Language
- en
- Open access
- closed
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- CoChat. (2026). Citation check: The Black Falcon: a teleoperated surgical instrument for minimally invasive surgery. https://app.cochat.ai/papers/10.1109/iros.1998.727320
- The paper
- Madhani, A. J., Niemeyer, G., & Salisbury, J. K. (2002). The Black Falcon: a teleoperated surgical instrument for minimally invasive surgery. Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190). https://doi.org/10.1109/iros.1998.727320
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
