Hand position effects on precision and speed in telerobotic surgery

Golenberg, Lavie; Cao, Alex; Ellis, R. Darin; Klein, Martina I.; Auner, Gregory W.; Pandya, Abhilash

doi:10.1002/rcs.148

Cited by 4 publications

(2 citation statements)

References 28 publications

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“…As opposed to Golenberg et al . , who used a flat surface with targets, we have constructed a three‐dimensional (3D) environment that contains the targets. This environment was constructed from a Plexiglass tube of 110 mm diameter.…”

Section: Methodsmentioning

confidence: 99%

Evaluation of robotically controlled advanced endoscopic instruments

Reilink

Kappers

Misra

2013

Robotics Computer Surgery

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Section: Methodsmentioning

confidence: 99%

Evaluation of robotically controlled advanced endoscopic instruments

Reilink

Kappers

Misra

2013

Robotics Computer Surgery

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show abstract

“…In the experimental evaluation, subjects used both methods to tap on fixed targets. As opposed to Golenberg et al [22], who used a flat surface with targets, we have constructed a three-dimensional environment that contains the targets. This environment was constructed from a plexiglass tube of 110mm diameter.…”

Section: Experimental Methodsmentioning

confidence: 99%

Image-based robotic steering of advanced flexible endoscopes and instruments

Reilink¹

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Micro-movements of varying difficulties: wrist and arm movements

Boyle

Shea

2013

Exp Brain Res

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An experiment was designed to determine the degree to which reducing movement amplitude (16°, 8°, to 4°) while keeping the relative accuracy requirements (IDs 1.5, 3, 4.5, and 6) and visual feedback display constant by increasing the display gain proportional to the decrease in amplitude (1×, 2×, 4×) influences reciprocal aiming movements of the wrist and arm. Research on smaller amplitude movements is limited and inconclusive, but these types of movement conditions are becoming increasingly more important as microsurgery and micro-mechanical applications increase. Participants were asked to flex/extend their limb/lever in the horizontal plane at the wrist (arm stabilized) or elbow joint (wrist stabilized) in an attempt to move back and forth between two targets as quickly and accurately as possible. The targets and current position of the limb were projected on the screen in front of the participant. Target width was manipulated with amplitude constant (16°, 8° or 4°). Results indicated that the linear relationship between MT and ID, typically observed for Fitts' tasks, was observed. There were moderate decreases in MT as amplitude was decreased but only for high ID movements. ID 6 movements at 4° amplitude, for example, were produced more quickly than at amplitude 16° without sacrificing end-point accuracy. The decrease in movement time was, however, related to increased dwell time and very low peak velocities.

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Hand position effects on precision and speed in telerobotic surgery

Abstract: These results suggest that advanced surgical robots should have intelligent re-indexing strategies. Alternatively, the robot's control gain should adaptively change with respect to hand position to normalize a surgeon's performance throughout his/her working volume.

Cited by 4 publications

References 28 publications

Evaluation of robotically controlled advanced endoscopic instruments

Evaluation of robotically controlled advanced endoscopic instruments

Image-based robotic steering of advanced flexible endoscopes and instruments

Micro-movements of varying difficulties: wrist and arm movements

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