Mobile Teleoperation: Feasibility of Wireless Wearable Sensing of the Operator’s Arm Motion

Fu, Guanhao; Azimi, Ehsan; Kazanzides, Peter

doi:10.1109/iros51168.2021.9636838

Cited by 3 publications

(3 citation statements)

References 17 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Fu et al. [ 10 ] proposed a novel teleoperation method that utilized wireless inertial measurement units (IMUs) attached to an arm to acquire the wrist's pose and control the robot. This approach enabled users to perform training tasks with similar efficiency, compared to the MTM, while gaining mobility.…”

Section: Related Workmentioning

confidence: 99%

“…While the dedicated console of the da Vinci surgical system offers valuable features like fine motion scaling/filtering, instrument control, and 3D visualization [ 9 ], it unavoidably creates physical barriers between the surgeon and the patient. This obstruction of direct sight to the patient, coupled with the restricted mobility imposed on the surgeon, diminishes their awareness of the patient's condition and may potentially hinder surgical efficiency and safety [ 10 , 11 ]. Additionally, the bulky nature of the console occupies a fixed space, making it immovable and impractical for surgeons to perform surgeries beyond the confines of the operating room.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Mixed reality based teleoperation and visualization of surgical robotics

Ai,

Kazanzides,

Azimi

2024

Healthcare Tech Letters

Self Cite

View full text Add to dashboard Cite

Surgical robotics has revolutionized the field of surgery, facilitating complex procedures in operating rooms. However, the current teleoperation systems often rely on bulky consoles, which limit the mobility of surgeons. This restriction reduces surgeons' awareness of the patient during procedures and narrows the range of implementation scenarios. To address these challenges, an alternative solution is proposed: a mixed reality‐based teleoperation system. This system leverages hand gestures, head motion tracking, and speech commands to enable the teleoperation of surgical robots. The implementation focuses on the da Vinci research kit (dVRK) and utilizes the capabilities of Microsoft HoloLens 2. The system's effectiveness is evaluated through camera navigation tasks and peg transfer tasks. The results indicate that, in comparison to manipulator‐based teleoperation, the system demonstrates comparable viability in endoscope teleoperation. However, it falls short in instrument teleoperation, highlighting the need for further improvements in hand gesture recognition and video display quality.

show abstract

Section: Related Workmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Mixed reality based teleoperation and visualization of surgical robotics

Ai,

Kazanzides,

Azimi

2024

Healthcare Tech Letters

Self Cite

View full text Add to dashboard Cite

show abstract

“…The data collected by the IMU sensor is sent via a wireless connection to the robot, which uses it to calculate the movement commands for the motors. We leveraged the framework proposed in [9] and [21] to achieve the gesture-based control strategy.…”

Section: Gesture-based Control Of the O 2 Smentioning

confidence: 99%

O2S: Open-source open shuttle

Linus¹,

Clemens²,

Bartsch³

et al. 2022

Preprint

View full text Add to dashboard Cite

Currently, commercially available intelligent transport robots that are capable of carrying up to 90kg of load can cost $5,000 or even more. This makes real-world experimentation prohibitively expensive, and limiting the applicability of such systems to everyday home or industrial tasks. Aside from their high cost, the majority of commercially available platforms are either closed-source, platform-specific, or use difficult-to-customize hardware and firmware. In this work, we present a low-cost, open-source and modular alternative, referred to herein as "open-source open shuttle (O 2 S)". O 2 S utilizes off-the-shelf (OTS) components, additive manufacturing technologies, aluminium profiles, and a consumer hoverboard with high-torque brushless direct current (BLDC) motors. O 2 S is fully compatible with the robot operating system (ROS), has a maximum payload of 90kg, and costs less than $1500. Furthermore, O 2 S offers a simple yet robust framework for contextualizing simultaneous localization and mapping (SLAM) algorithms, an essential prerequisite for autonomous robot navigation. The robustness and performance of the O 2 S were validated through real-world and simulation experiments. All the design, construction and software files are freely available online under the GNU GPL v3 license at https://doi.org/10.17605/OSF.IO/K83X7. A descriptive video of O 2 S can be found at https://osf.io/v8tq2.

show abstract

Non-Technical Skill Assessment and Mental Load Evaluation in Robot-Assisted Minimally Invasive Surgery

Elek

Haidegger

2021

Sensors

View full text Add to dashboard Cite

BACKGROUND: Sensor technologies and data collection practices are changing and improving quality metrics across various domains. Surgical skill assessment in Robot-Assisted Minimally Invasive Surgery (RAMIS) is essential for training and quality assurance. The mental workload on the surgeon (such as time criticality, task complexity, distractions) and non-technical surgical skills (including situational awareness, decision making, stress resilience, communication, leadership) may directly influence the clinical outcome of the surgery. METHODS: A literature search in PubMed, Scopus and PsycNet databases was conducted for relevant scientific publications. The standard PRISMA method was followed to filter the search results, including non-technical skill assessment and mental/cognitive load and workload estimation in RAMIS. Publications related to traditional manual Minimally Invasive Surgery were excluded, and also the usability studies on the surgical tools were not assessed. RESULTS: 50 relevant publications were identified for non-technical skill assessment and mental load and workload estimation in the domain of RAMIS. The identified assessment techniques ranged from self-rating questionnaires and expert ratings to autonomous techniques, citing their most important benefits and disadvantages. CONCLUSIONS: Despite the systematic research, only a limited number of articles was found, indicating that non-technical skill and mental load assessment in RAMIS is not a well-studied area. Workload assessment and soft skill measurement do not constitute part of the regular clinical training and practice yet. Meanwhile, the importance of the research domain is clear based on the publicly available surgical error statistics. Questionnaires and expert-rating techniques are widely employed in traditional surgical skill assessment; nevertheless, recent technological development in sensors and Internet of Things-type devices show that skill assessment approaches in RAMIS can be much more profound employing automated solutions. Measurements and especially big data type analysis may introduce more objectivity and transparency to this critical domain as well. SIGNIFICANCE: Non-technical skill assessment and mental load evaluation in Robot-Assisted Minimally Invasive Surgery is not a well-studied area yet; while the importance of this domain from the clinical outcome’s point of view is clearly indicated by the available surgical error statistics.

show abstract

Mobile Teleoperation: Feasibility of Wireless Wearable Sensing of the Operator’s Arm Motion

Cited by 3 publications

References 17 publications

Mixed reality based teleoperation and visualization of surgical robotics

Mixed reality based teleoperation and visualization of surgical robotics

O2S: Open-source open shuttle

Non-Technical Skill Assessment and Mental Load Evaluation in Robot-Assisted Minimally Invasive Surgery

Contact Info

Product

Resources

About