Effects of master-slave tool misalignment in a teleoperated surgical robot

Kim, Lawrence H.; Bargar, Clifford; Che, Yuhang; Okamura, Allison M.

doi:10.1109/icra.2015.7139948

Cited by 22 publications

(21 citation statements)

References 14 publications

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“…The maximum orientation difference is about 8 • according to the bending angle, as shown in Figure 6d. When surgeons control the robotic arm using master devices in real-time, they are more sensitive to the orientation error than the position error because it is more visible [21]. An accurate kinematic model helps to make operators more comfortable.…”

Section: Forward Kinematic Model From Joint Space To Task Spacementioning

confidence: 99%

Kinematic Model and Real-Time Path Generator for a Wire-Driven Surgical Robot Arm with Articulated Joint Structure

Jin

Lee

Lee³

et al. 2019

Applied Sciences

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This paper presents a forward kinematic model of a wire-driven surgical robot arm with an articulated joint structure and path generation algorithms with solutions of inverse kinematics. The proposed methods were applied to a wire-driven surgical robot for single-port surgery. This robot has a snake-like robotic arm with double segments to fit the working space in a single port and a joint structure to secure stiffness. The accuracy of the model is highly important because small surgical robot arms are usually controlled by open-loop control. A curvature model is widely used to describe and control a continuum robotic body. However, the model is quite different from a continuum robotic arm with a joint structure and can lead to slack of the driving wires or decreased stiffness of the joints. An accurate forward kinematic model was derived to fit the actual hardware structure via the frame transformation method. An inverse kinematic model from the joint space to the wire-length space was determined from an asymmetric model for the joint structure as opposed to a symmetric curvature model. The path generation algorithm has to generate a command to send to each actuator in open-loop control. Two real-time path generation algorithms that solve for inverse kinematics from the task space to the joint space were designed and compared using simulations and experiments. One of the algorithms is an optimization method with sequential quadratic programming (SQP), and the other uses differential kinematics with a PID (Proportional-Integral-Derivative) control algorithm. The strengths and weaknesses of each algorithm are discussed.

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Section: Forward Kinematic Model From Joint Space To Task Spacementioning

confidence: 99%

Kinematic Model and Real-Time Path Generator for a Wire-Driven Surgical Robot Arm with Articulated Joint Structure

Jin

Lee

Lee³

et al. 2019

Applied Sciences

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show abstract

“…Such variable master-slave misalignment makes it difficult for the operator to understand how master rotations map to slave rotations [7]. Kim et al [11] showed that task performance decreases with increasing orientational master-slave misalignment. It can be assumed that in addition to decreasing performance, variable master-slave misalignment also increases the cognitive workload of the operator, as they permanently have to adapt to the changing master-slave misalignment.…”

Section: Introductionmentioning

confidence: 99%

The Functional Rotational Workspace of a Human-Robot System can be Influenced by Adjusting the Telemanipulator Handle Orientation

Zoller

Gerig

Cattin

et al. 2021

IEEE Trans. Haptics

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The handle design of telemanipulation master devices has not been extensively studied so far. However, the master device handle is an integral part of the robotic system through which the user interacts with the system. Previous work showed that the size and shape of the functional rotational workspace of the human-robot system and its usability are influenced by the design of the master device handle. Still, in certain situations, e.g., due to user preference, a specific grasp type handle might be desired. Therefore, in this article, we provide a systematic approach on how to assess and adjust the functional rotational workspace of a human-robot system. We investigated the functional rotational workspace with two exemplary grasp type handles and two different mounting orientations for each handle. The results showed that by adapting the handle orientation in the home configuration of the telemanipulator, the functional rotational workspace of the human-robot system can be adjusted systematically to cover more of the mechanical workspace of the master device. Finally, we deduct recommendations on how to choose and adjust a telemanipulator handle.

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“…Such mechanism could reduce the performance of the operator because of master-slave misalignments in tool orientation or camera viewpoint that could occur when unclutching. 21 On the other hand, rate control reduces the awareness of the catheter actuation state, which would likely increase the surgeon's mental load during the operation. Position or rate control can be implemented in joint or task space.…”

Section: Introductionmentioning

confidence: 99%

“…Clutching mechanisms can be implemented to overcome such limitations but -as previously mentionnedcan be found non-intuitive and time-consuming. 21 Input devices showing large and comparatively similar workspaces to the slave side will offer more flexibility in this regard. Note that the design and selection of appropriate input devices is not within the scope of this paper.…”

Section: Introductionmentioning

confidence: 99%

Intuitive Control Strategies for Teleoperation of Active Catheters in Endovascular Surgery

Devreker

Tran

Rosa

et al. 2016

J. Med. Robot. Res.

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Cardiovascular surgeons increasingly resort to catheter-based diagnostic and therapeutic interventions because of their limited invasiveness. Although, these approaches allow treatment of patients considered unfit for conventional open surgery, exposure to radiation and high procedural complexity could lead to complications. These factors motivated the introduction of robotic technology offering more dexterous catheters, enhanced visualization and opening new possibilities in terms of guidance and coordinated control. In addition to improvements of patient outcome, through teleoperated catheter control radiation exposure of surgeons can be reduced. In order to limit surgical workload, intuitive mappings between joystick input and resulting catheter motion are essential. This paper presents and compares two proposed mappings and investigates the benefits of additional visual guidance. The comparison is based on data gathered during an experimental campaign involving 14 novices and three surgeons. The participants were asked to perform an endovascular task in a virtual reality simulator presented in the first part of this paper. Statistical results show significant superiority of one mapping with respect to the other and a significant improvement of performance thanks to additional visual guidance. Future work will focus on translating the results to a physical setup for surgical validation, also the learning effect will be analyzed more in-depth.

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Effects of master-slave tool misalignment in a teleoperated surgical robot

Cited by 22 publications

References 14 publications

Kinematic Model and Real-Time Path Generator for a Wire-Driven Surgical Robot Arm with Articulated Joint Structure

Kinematic Model and Real-Time Path Generator for a Wire-Driven Surgical Robot Arm with Articulated Joint Structure

The Functional Rotational Workspace of a Human-Robot System can be Influenced by Adjusting the Telemanipulator Handle Orientation

Intuitive Control Strategies for Teleoperation of Active Catheters in Endovascular Surgery

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