DLR MiroSurge: a versatile system for research in endoscopic telesurgery

Hagn, Ulrich; Konietschke, Rainer; Tobergte, Andreas; Nickl, Mathias; Jörg, Stefan; Kübler, Bernhard; Passig, Georg; Gröger, Martin; Fröhlich, Florian A.; Seibold, Ulrich; Le-Tien, Luc; Albu-Schäffer, Alin; Nothhelfer, Alexander; Hacker, Franz; Grebenstein, Markus; Hirzinger, Gerd

doi:10.1007/s11548-009-0372-4

Cited by 247 publications

(119 citation statements)

References 30 publications

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“…Hagn et al [9] discuss the advantages and disadvantages of dedicated and versatile surgical robotic systems. The first type of system is dedicated for specific applications or diseases, whereas the latter can be adapted to a wide range of applications.…”

Section: Existing Systemsmentioning

confidence: 99%

Bridging the gap between robotic technology and health care

Andrade

Pereira

Walter

et al. 2014

Biomedical Signal Processing and Control

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Although technology and computation power have become more and more present in our daily lives, we have yet to see the same tendency in robotics applied to health care. In this work we focused on the study of four distinct applications of robotic technology to health care, named Robotic Assisted Surgery, Robotics in Rehabilitation, Prosthetics and Companion Robotic Systems. We identified the main roadblocks that are limiting the progress of such applications by an extensive examination of recent reports. Based on the limitations of the practical use of current robotic technology for health care we proposed a general modularization approach for the conception and implementation of specific robotic devices. The main conclusions of this review are: (i) There is a clear need of the adaptation of robotic technology (closed loop) to the user, so that robotics can be widely accepted and used in the context of heath care; (ii) For all studied robotic technologies cost is still prohibitive and limits their wide use. The reduction of costs influences technology acceptability, thus innovation by using cheaper computer systems and sensors are relevant and should be taken into account in the implementation of robotic systems.

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Section: Existing Systemsmentioning

confidence: 99%

Bridging the gap between robotic technology and health care

Andrade

Pereira

Walter

et al. 2014

Biomedical Signal Processing and Control

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“…Mechanically constrained systems were developed to ensure a remote center of motion (RCM) [15]. Software based RCM solutions were also proposed for telemanipulation [16] as well as for Hands-on manipulation [17]. Besides RCM constraints, which represent guidance constraints in regards to the tool orientation, position constraints ensure compliance with forbidden-region or path following.…”

Section: Dynamic Active Constraint Frameworkmentioning

confidence: 99%

Implicit active constraints for a compliant surgical manipulator

Leibrandt

Marcus

Kwok

et al. 2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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Abstract-Active constraints are high-level control algorithms providing software-generated force feedback from virtual environments. When applied to surgery, they can assist surgeons in performing complex tasks by guiding their navigation pathways along narrow, possibly convoluted, surgical trajectories. This paper presents a method to generate concave tubular constraints implicitly from pre-or intra-operative data. Patient-specific constraints may be generated efficiently with the proposed scheme and readily deployed in various surgical scenarios. Furthermore, a five degree-of-freedom active constraint framework is proposed, which accounts for the entire tool shaft rather than just the end-effector, and is applicable to both static and dynamic active constraint scenarios. Experimental results on simulated surgical tasks show that this framework can improve safety and accuracy as well as reduce the perceived workload during complex surgical tasks.

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“…Master-slave robotic systems have found use in many applications ranging from games industry, assistive technologies and medicine (practicing or training) (e.g., in neuromuscular rehabilitation (Iqbal et al, 2014) or in surgery (Hagn et al, 2010;Tzemanaki et al, 2014;Intuitive Surgical, 2017) to areas where safety issues prevent use of autonomous robots such as in underwater environments, space exploration or nuclear industry (Nagatani et al, 2013;Kulakov et al, 2015;García et al, 2017).…”

Section: Introductionmentioning

confidence: 99%

Design of a Wearable Fingertip Haptic Device for Remote Palpation: Characterisation and Interface with a Virtual Environment

Tzemanaki

Melhuish

et al. 2018

Front. Robot. AI

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This paper presents the development of a wearable Fingertip Haptic Device (FHD) that can provide cutaneous feedback via a Variable Compliance Platform (VCP). The FHD includes an inertial measurement unit, which tracks the motion of the user's finger while its haptic functionality relies on two parameters: pressure in the VCP and its linear displacement towards the fingertip. The combination of these two features results in various conditions of the FHD, which emulate the remote object or surface stiffness properties. Such a device can be used in tele-operation, including virtual reality applications, where rendering the level of stiffness of different physical or virtual materials could provide a more realistic haptic perception to the user. The FHD stiffness representation is characterised in terms of resulting pressure and force applied to the fingertip created through the relationship of the two functional parameters -pressure and displacement of the VCP. The FHD was tested in a series of user studies to assess its potential to create a user perception of the object's variable stiffness. The viability of the FHD as a haptic device has been further confirmed by interfacing the users with a virtual environment. The developed virtual environment task required the users to follow a virtual path, identify objects of different hardness on the path and navigate away from "no-go" zones. The task was performed with and without the use of the variable compliance on the FHD. The results showed improved performance with the presence of the variable compliance provided by the FHD in all assessed categories and particularly in the ability to identify correctly between objects of different hardness.

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DLR MiroSurge: a versatile system for research in endoscopic telesurgery

Abstract: While the components of the MiroSurge system are shown to fulfil the rigid design requirements for robotic telesurgery with force feedback, the system remains versatile, which is supposed to be a key issue for the further development and optimisation.

Cited by 247 publications

References 30 publications

Bridging the gap between robotic technology and health care

Bridging the gap between robotic technology and health care

Implicit active constraints for a compliant surgical manipulator

Design of a Wearable Fingertip Haptic Device for Remote Palpation: Characterisation and Interface with a Virtual Environment

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