Surgical and interventional robotics: part III [Tutorial]

Hager, Gregory D.; Okamura, Allison M.; Kazanzides, Peter; Whitcomb, Louis L.; Fichtinger, Gabor; Taylor, Russell H.

doi:10.1109/mra.2008.930401

Cited by 48 publications

(22 citation statements)

References 58 publications

(63 reference statements)

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“…An ideal control methodology, which is also interfaced with a dedicated user interface, should allow the physician to command a slave robotic system as naturally as possible, by performing the same movements and gestures, and even holding the same operational tools [8].…”

Section: A Control Methodologies For Endoscopic Capsules With Magnetmentioning

confidence: 99%

A Comparative Evaluation of Control Interfaces for a Robotic-Aided Endoscopic Capsule Platform

et al. 2012

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Abstract-Wireless capsule endoscopy offers significant advantages compared with traditional endoscopic procedures, since it limits the invasiveness of gastrointestinal tract screening and diagnosis. Moreover, active locomotion devices would allow endoscopy to be performed in a totally controlled manner, avoiding failures in the correct visualization of pathologies. Previous works demonstrated that magnetic locomotion through a robotic-aided platform would allow us to reach this goal reliably. In this paper, the authors present a comparative evaluation of control methodologies and user interfaces for a robotic-aided magnetic platform for capsule endoscopy, controlled through human-robot cooperative and teleoperated control algorithms. A detailed statistical analysis of significant control parameters was performed: teleoperated control is the more reliable control approach, and a serial kinematic haptic device results as the most suitable control interface to perform effective robotic-aided endoscopic procedures.

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Section: A Control Methodologies For Endoscopic Capsules With Magnetmentioning

confidence: 99%

A Comparative Evaluation of Control Interfaces for a Robotic-Aided Endoscopic Capsule Platform

et al. 2012

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“…This can be achieved with two different types of robotic architectures: teleoperation, where the user is remotely maneuvering a device, or the cooperative manipulation, where the user and the robot cooperatively move the surgical instrument (needle). The control method of most of teleoperated devices is impedance control [5]- [7], while in cooperative manipulation, admittance control is preferred to allow force-to-motion scaling [8].…”

Section: Introductionmentioning

confidence: 99%

Experimental evaluation of a coaxial needle insertion assistant with enhanced force feedback

Lorenzo

Koseki

Momi³

et al. 2011

2011 Annual International Conference of the IEEE Engineering in Medicine and Biology Society

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Abstract-During needle insertion in soft tissue, detection of change in tissue properties is important both for diagnosis to detect pathological tissue and for prevention to avoid puncture of important structures. The presence of a membrane located deep inside the tissue results in a relatively small force variation at the needle tip that can be masked by relatively large friction force between the needle shaft and the surrounding tissue. Also, user perception of force can be limited due to the overall small force amplitude in some applications (e.g. brain surgery).A novel robotic coaxial needle insertion assistant was developed to enhance operator force perception. The coaxial needle separates the cutting force at the needle tip from shear friction on the needle shaft. The assistant is force controlled (admittance control), providing the operator with force feedback that is a scaled version of the force applied by the needle tip to the tissue. The effectiveness of the assistant in enhancing the detection of different tissue types was tested experimentally. Users were asked to blindly insert a needle into artificial tissues with membranes at various depths under two force feedback conditions: (1) shaft and tip force together, and (2) only tip force. The ratio of successful to unsuccessful membrane detection was significantly higher when only the needle tip force is displayed to the user. The system proved to be compliant with the clinical applications requirements.

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“…A good overview of surgical and interventional robotics can be found in [12], [13], [14]. An abstract representation of surgical tasks was, e.g., suggested in [15] based on [1].…”

Section: Related Workmentioning

confidence: 99%

Contact state based representation of object relations in the environment for dexterous manipulations

Petsch

Burschka

2013

2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

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Abstract-Robots which are supposed to replace a human worker need sophisticated manipulation capabilities. Such capabilities are required for demanding everyday tasks as well as for specialized operations. This includes, e.g., dexterous manipulations in robot-assisted minimally invasive surgery.Sophisticated manipulation tasks require not only appropriate physical capabilities from the hardware, but also advanced knowledge about the dexterous manipulation task itself. Hence, we propose an abstract representation of dexterous manipulation knowledge. It is based on a contact state perspective of the environment. Objects in the environment are described relative to their specific type of contact with the environment. This enables a robot-independent reuse and adaption. The task can even be processed if the environment changes (e.g., due to occurrence of obstacles) of if another robot has to be used.Our experiments illustrate the flexibility which the representation provides. Obstacle avoidance and efficiency of the manipulator's motion are taken into account in the scenarios. I. MOTIVATIONSophisticated manipulation capabilities are an important step towards daily use suitability for robots. This poses not only requirements on the physical capabilities of the involved robotic hand and arm. Advanced knowledge about dexterous manipulation is necessary as well. We focus on the representation of such knowledge in this paper. The representation has to enable a successful reuse of the knowledge even if the environment changes. Hence, it should be possible to build up alternative procedures to achieve the desired goal. Moreover, the knowledge representation should be independent of the robot to allow a knowledge usage on different robotic systems. The representation should be easy to use, since a human should be able to command the robot without programming the exact path. The required knowledge for the representation should be extractable from observation. To conclude, a representation at an abstract level is required rather than, e.g., a record of observations from demonstrations.The aim of a task is usually a desired goal state of objects in the environment. The performance of the task requires, then, a modification of the current state of the environment. In general, a state could be related to a physical state of an object. For example, a cup can be empty or it can be filled with coffee. Hence, its physical state (weight) is different. Moreover, the handling properties of an object can differ figure). Of course, one could use a tool, e.g., a can inbetween to achieve the desired contact state (bottom row). The final choice depends on several factors like efficiency (usage of an additional tool requires time capacities) or further tasks (e.g., refilling of the cup).(e.g., tilting of a cup filled with coffee should be avoided). A representation of such properties has already been presented in [1]. We want to go a step further in this paper. We focus on more dexterous tasks, which require a much more detailed knowledge ...

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Surgical and interventional robotics: part III [Tutorial]

Cited by 48 publications

References 58 publications

A Comparative Evaluation of Control Interfaces for a Robotic-Aided Endoscopic Capsule Platform

A Comparative Evaluation of Control Interfaces for a Robotic-Aided Endoscopic Capsule Platform

Experimental evaluation of a coaxial needle insertion assistant with enhanced force feedback

Contact state based representation of object relations in the environment for dexterous manipulations

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