Virtual wall–based haptic-guided teleoperated surgical robotic system for single-port brain tumor removal surgery

Seung, Sungmin; Choi, Hongseok; Jang, Ji Hye; Kim, Young Soo; Park, Jong-Oh; Park, Sukho; Ko, Seong Young

doi:10.1177/0954411916676218

Cited by 11 publications

(4 citation statements)

References 34 publications

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“…For the guided milling experiment, reduced errors are found for both telemanipulated configurations, which confirms findings of previous studies [ 11 , 33 ] and is in line with results of [ 43 ]. Comparing the result to a study on manual milling of neurosurgeons (mean depth and lateral error of 0.7 mm [ 34 ]) shows that novice users can achieve a similar or better accuracy when using the teleoperation setup.…”

Section: Discussionsupporting

confidence: 92%

Usability of cooperative surgical telemanipulation for bone milling tasks

et al. 2020

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Purpose Cooperative surgical systems enable humans and machines to combine their individual strengths and collaborate to improve the surgical outcome. Cooperative telemanipulated systems offer the widest spectrum of cooperative functionalities, because motion scaling is possible. Haptic guidance can be used to assist surgeons and haptic feedback makes acting forces at the slave side transparent to the operator, however, overlapping and masking of forces needs to be avoided. This study evaluates the usability of a cooperative surgical telemanipulator in a laboratory setting. Methods Three experiments were designed and conducted for characteristic surgical task scenarios derived from field studies in orthopedics and neurosurgery to address bone tissue differentiation, guided milling and depth sensitive milling. Interaction modes were designed to ensure that no overlapping or masking of haptic guidance and haptic feedback occurs when allocating information to the haptic channel. Twenty participants were recruited to compare teleoperated modes, direct manual execution and an exemplary automated milling with respect to usability. Results Participants were able to differentiate compact and cancellous bone, both directly manually and teleoperatively. Both telemanipulated modes increased effectiveness measured by the mean absolute depth and contour error for guided and depth sensitive millings. Efficiency is decreased if solely a boundary constraint is used in hard material, while a trajectory guidance and manual milling perform similarly. With respect to subjective user satisfaction trajectory guidance is rated best for guided millings followed by boundary constraints and the direct manual interaction. Haptic feedback only improved subjective user satisfaction. Conclusion A cooperative surgical telemanipulator can improve effectiveness and efficiency close to an automated execution and enhance user satisfaction compared to direct manual interaction. At the same time, the surgeon remains part of the control loop and is able to adjust the surgical plan according to the intraoperative situation and his/her expertise at any time.

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Section: Discussionsupporting

confidence: 92%

Usability of cooperative surgical telemanipulation for bone milling tasks

et al. 2020

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“…In recent years, virtual fixtures have been widely used in various types of surgical robot. Seung et al [25] proposed a virtual wall ''tactile guidance'' for a tumor removal surgical robotic system for minimizing damage to normal tissue. Liu et al [26] proposed a preoperative planning method, which used the virtual fixtures principle to determine the collision-free reach of the needle.…”

Section: Introductionmentioning

confidence: 99%

A Virtual Fixtures Control Method of Surgical Robot Based on Human Arm Kinematics Model

et al. 2019

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Physical human-robot interaction(pHRI) is the most popular way to ensure the safety in robot surgery. Current research of pHRI in operation room focuses on the inside of the surgical area, which adapts virtual fixtures method for ensuring the safety of drag. But the safety problems caused by human error in the stage of dragging the robot from the outside surgical area to the inside surgical area are ignored. Therefore, a method of applying virtual fixtures to the outside of the surgical area is proposed to solve the safety issues during dragging stage outside surgical area. This method takes the kinematics model of human arm as the reference motion trajectory to construct the guided virtual fixtures, which is to restrict the robot movement in a defined area during the pHRI drag. This drag is based on admittance control method to improve safety and ensure flexibility. Experiment results show that the constructed guided virtual fixtures with the trajectory of the human arm model as the central axis, with radius 30mm, and restrict area 5mm can effectively limit the robot motion to a certain range. Simultaneously, the output speed of the robot in tangent direction of the central axis can well follow the change of the force applied by the doctor, and the output speed in the normal direction of the central axis can converge to zero stably at the pipeline boundary. Consequently, the purpose of improving the safety and flexibility of the surgical robot before surgical operation is realized. INDEX TERMS Physical human-robot interaction, security control strategy, arm kinematics, virtual fixtures, surgical robot.

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“…A field in which haptic feedback has been proven to play a key role in enhancing the performance of several applications is robotic teleoperation. [1][2][3][4] For example, Ni et al 5 designed a haptic device to achieve masterslave displacement control and established an active control mode based on virtual wall guide. Through the fusion of operator's manipulation and robotic visual guidance, information sharing and mutual guidance are realized in the teleoperation so that the efficiency improvement of master-slave teleoperation is achieved.…”

Section: Introductionmentioning

confidence: 99%

A wearable vibrotactile system for distributed guidance in teleoperation and virtual environments

Bai

et al. 2018

Proc Inst Mech Eng H

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A novel wearable vibrotactile system is proposed in this article to enhance the performance of teleoperation robot systems. Using a wearable vibrotactile glove, the proposed system guides the operator in the master-slave control through a vibrotactile-visual guidance method. Based on sensory substitution, the vibrotactile-visual combined guidance method combines vibration stimuli and visual feedback to substitute the virtual guidance force. A vibrotactile potential field is constructed in the workspace of the master-operator to calculate the frequency of the vibration stimulus. To provide vibration stimuli, a novel vibrotactile glove is designed and manufactured based on the layout of the sensitive region of human hand. As the human hand is unable to discriminate vibration stimuli of all frequencies, the vibration stimulus is discretization according to the result of the vibration discriminability experiment. At last, two contrast experiments in obstacle-free and obstacle-existing environments are conducted to verify the feasibility and effectiveness of the wearable vibrotactile system. The results show that this wearable vibrotactile system is an effective solution for guiding the operators in teleoperation and virtual environments.

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Virtual wall–based haptic-guided teleoperated surgical robotic system for single-port brain tumor removal surgery

Cited by 11 publications

References 34 publications

Usability of cooperative surgical telemanipulation for bone milling tasks

Usability of cooperative surgical telemanipulation for bone milling tasks

A Virtual Fixtures Control Method of Surgical Robot Based on Human Arm Kinematics Model

A wearable vibrotactile system for distributed guidance in teleoperation and virtual environments

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