Manipulability of teleoperated surgical robots with application in design of master/slave manipulators

Torabi, Ali; Khadem, Mohsen; Zareinia, Kourosh; Sutherland, Garnette R.; Tavakoli, Mahdi

doi:10.1109/ismr.2018.8333307

Cited by 19 publications

(21 citation statements)

References 14 publications

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“…whereẋ is the velocity of the master robot end-effector, which is equal to the velocity of the user's hand, and F h is the forces applied by the user. Now we use (23) to estimate the human user effort over time during the trajectory tracking scenario. The same value for the B d is chosen for all simulation studies.…”

Section: Simulation Studiesmentioning

confidence: 99%

“…Konietschke et al 21 and Li et al 22 used the manipulability index for optimal design of a dexterous surgical robot. From our group, Torabi et al 23 used the manipulability as a criterion to modify the design of currently existing master-slave robotic systems to improve the performance of teleoperation surgery. They introduced the teleoperation ME as a measure of manipulability for teleoperated master-slave robotic systems.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Using a Redundant User Interface in Teleoperated Surgical Systems for Task Performance Enhancement

Torabi¹,

Khadem²,

Zareinia³

et al. 2020

Robotica

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SUMMARY The enhanced dexterity and manipulability offered by master–slave teleoperated surgical systems have significantly improved the performance and safety of minimally invasive surgeries. However, effective manipulation of surgical robots is sometimes limited due to the mismatch between the slave and master robots’ kinematics and workspace. The purpose of this paper is first to formulate a quantifiable measure of the combined master–slave system manipulability. Next, we develop a null-space controller for the redundant master robot that employs the proposed manipulability index to enhance the performance of teleoperation tasks by matching the kinematics of the redundant master robot with the kinematics of the slave robot. The null-space controller modulates the redundant degrees of freedom of the master robot to reshape its manipulability ellipsoid (ME) towards the ME of the slave robot. The ME is the geometric interpretation of the kinematics of a robot. By reshaping the master robot’s manipulability, we match the master and slave robots’ kinematics. We demonstrate that by using a redundant master robot, we are able to enhance the master–slave system manipulability and more intuitively transfer the slave robot’s dexterity to the user. Simulation and experimental studies are performed to validate the performance of the proposed control strategy. Results demonstrate that by employing the proposed manipulability index, we can enhance the user’s control over the force/velocity of a surgical robot and minimize the user’s control effort for a teleoperated task.

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Section: Simulation Studiesmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Using a Redundant User Interface in Teleoperated Surgical Systems for Task Performance Enhancement

Torabi¹,

Khadem²,

Zareinia³

et al. 2020

Robotica

Self Cite

View full text Add to dashboard Cite

show abstract

“…Other works focus on kinematic issues related to surgical robotics [12,[24][25][26], which are often approached from the point of view of improved motion control or teleoperation. Specific issues include manipulability index [24], singularity avoiding trajectory planning [12], and inverse kinematics algorithms for the particular requirements of surgical teleoperation [26].…”

Section: Research Citing Raven But Not Using Ravenmentioning

confidence: 99%

“…As teleoperation is still the dominant way to control surgical robots, there are many Raven citations in this topic [8,12,24,26,34,38,39,44,63,64,66,[68][69][70][71][72][73][74][75][76][77][78]. Whilemuch research focuses on the classical teleoperation problems, such as the system architecture, the master controller and the communication problems, etc., we do see some new research problems attracting attention.…”

Section: Teleoperated Robotic Surgeriesmentioning

confidence: 99%

The Raven Open Surgical Robotic Platforms: A Review and Prospect

2019

APH

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The Raven I and the Raven II surgical robots, as open research platforms, have been serving the robotic surgery research community for ten years. The paper 1) briefly presents the Raven I and the Raven II robots, 2) reviews the recent publications that are built upon the Raven robots, aim to be applied to the Raven robots, or are directly compared with the Raven robots, and 3) uses the Raven robots as a case study to discuss the popular research problems in the research community and the trend of robotic surgery study. Instead of being a thorough literature review, this work only reviews the works formally published in the past three years and uses these recent publications to analyze the research interests, the popular open research problems, and opportunities in the topic of robotic surgery.

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“…The haptic interfaces are the mechanical devices capable of rendering tactile feedback based on the users' applied displacements . In this research, the utilized experimental setup consists of the Novint Falcon haptic device.…”

Section: Development Of An Endoscopic Sinus Training Systemmentioning

confidence: 99%

A validation study of a virtual‐based haptic system for endoscopic sinus surgery training

Sadeghnejad

Khadivar

Abdollahi

et al. 2019

Robotics Computer Surgery

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Background:The development of endoscopic sinus surgery (ESS) training simulators for clinical environment applications has reduced the existing shortcomings in conventional teaching methods, creating a standard environment for trainers and trainees in a more accurate and repeatable fashion. Materials and methods:In this research, the validation study of an ESS training simulator has been addressed. It is important to consider components that guide trainees to improve their hand movements control in the orbital floor removal in an ESS operation. Therefore, we defined three tasks to perform: pre-experiment learning, training, and evaluation. In these tasks, the critical regions introduced in the virtual training environment are forbidden to be touched. Recruiting 20 participants, divided into two groups, we investigated the performance metrics: quality (the percentage of the realism for the generated force for orbital floor removal and the usefulness of the proposed training system for the surgical educational curricula.), efficiency (time, path length), and safety (touching the goal and forbidden wall). Results:All recruited participants answered a post-evaluation questionnaire regarding their perceptions of training system realism, potential educational benefits, and practiced skills. We investigate the differences between groups' performance metrics by utilizing the analysis of variance-Kruskal-Wallis test. Acquired results indicate that training before the actual process of the surgery has a significant effect on the accuracy and validity of the process for surgeons. Conclusions:Utilizing a standardized environment, trainers and trainees are able to carry out a process with regular features. In addition to traditional education methods, trainees can learn the risk of surgical operations. The training simulators can, also, provide a standard method for assessing the skills of surgical and medical students.

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Manipulability of teleoperated surgical robots with application in design of master/slave manipulators

Cited by 19 publications

References 14 publications

Using a Redundant User Interface in Teleoperated Surgical Systems for Task Performance Enhancement

Using a Redundant User Interface in Teleoperated Surgical Systems for Task Performance Enhancement

The Raven Open Surgical Robotic Platforms: A Review and Prospect

A validation study of a virtual‐based haptic system for endoscopic sinus surgery training

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