On application of virtual fixtures as an aid for telemanipulation and training

Abstract

Abstract

Augmented Reality for Minimally Invasive Surgery: Overview and Some Recent Advances

“…Among other benefits, it increase speed and precision, reduce operator workload and the effects of time delays (Rosenberg, 1995) (Sayers & Paul, 1994). Haptic guidance has also been used in several telesurgical applications, ranging from limiting the movements of the manipulator into restricted regions (Payandeh & Stanisic, 2002) to increase the accuracy in microsurgery (Bettini et al, 2004). The constraints that restrict the movements of the user can be defined taking into account different aspects.…”

Intelligent Transduction for Response Synthesis in Telemanipulation

“…The probe velocity ' ' is computed from discrete time stamped positions at time intervals or from velocity sensors on slave robot arm, applicable F i.e. 'RP' is computed by (7). RP is converted in physical form by using servo motor operating in current control mode [15][16] [17].…”

“…RELATED WORK "Virtual fixture" refers to a general class of guidance modes [7][8] that help a robotic manipulator perform a task by limiting its movement into restricted regions and/or influencing its movement along desired paths and prohibit the motion of a robot manipulator into forbidden regions of geometric or configuration space. Spring action have been proposed [9][10] but they are not passive and tend to react on stationary state REE too.…”

Haptic Manipulation of Microspheres Using Optical Tweezers Under the Guidance of Artificial Force Fields

“…A virtual fixture pulls the trapped sphere towards this line when it is sufficiently close to the anchor sphere. Virtual fixtures and artificial force fields have been shown to improve user performance and learning in telemanipulation tasks in real world and training tasks simulated in virtual environments (Rosenberg, 1993;Payandeh and Stanisic, 2002;Bettini et al 2002). They are also effective in robot programming by demonstration (Aleotti, Caselli, and Reggiani, 2005).…”