Vision assisted control for manipulation using virtual fixtures

Bettini, A.; Lang, S.; Okamura, Allison M.; Hager, Gregory D.

doi:10.1109/iros.2001.976327

Cited by 106 publications

(121 citation statements)

References 11 publications

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“…A mobile handrest obtaining high precision and improved with size several orders of magnitude larger than obtained using a static handrest. In this paper, we present Active Handrest, a device that steadies the user's hand while allowing for continuous repositioning throughout a task area ( 1). The purpose of this device is to provide a local basis of support for the user to perform precision manipulation Handrest is designed to continuously reposition user's hand remains near the center of it The challenge is to do this repositioning task does not result in a loss of precision, such as would be by Fitts' Law.…”

mentioning

confidence: 99%

Active Handrest for precision manipulation and ergonomic support

Fehlberg

Gleeson

Leishman

et al. 2010

2010 IEEE Haptics Symposium

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People use handrests every day to complete dexterous activities as routine as providing a signature. However, the dexterous workspace of the hand is somewhat limited. To address this limit, we have developed an Active Handrest to aid in manipulation tasks by extending a user's dexterous work space while providing ergonomic support for reduced fatigue while maintaining or even improving upon the precision obtained from a fixed handrest. Such a device could be useful performing precision tasks over large workspaces surgery, machining, or pick-and-place tasks. prototype Active Handrest is a planar, computer controlled support for the user's wrist and arm that allows control over a grasped tool or manipulation device uses force input from the user's hand, position input from a grasped manipulandum, or a combination of position inputs. The control algorithm of the device then interprets and converts the input(s) into handrest motions. conducted to optimize the control strategy by investigating the effects of control mode and of velocity limits. Task precision and completion time were used as performance metrics showed that the device provided the greatest task its velocity was limited to 5 mm/s, while using control strategy. An experiment was then conducted the Active Handrest to various fixed wrist and arm support conditions, as well as the unsupported condition. Active Handrest was found to reduce task error compared to performing the tasks with an unsupported arm by 26.0% compared to task completion with a static wrist support These results are statistically significant (p < 0.0001). generally completed experiments more slowly using the Active Handrest, performance with the Active Handrest sensitivity of task error relative to task completion experience with our drawing task leads to an increase in accuracy however, the Active Handrest continues to outperform other hand support conditions (p < 0.0001).

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mentioning

confidence: 99%

Active Handrest for precision manipulation and ergonomic support

Fehlberg

Gleeson

Leishman

et al. 2010

2010 IEEE Haptics Symposium

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“…Guidance virtual fixtures constrain the motion of the robot to a desired path or surface. Guidance virtual fixtures were implemented in [6] to direct the robot toward a specific point or a curve. The effect of virtual fixtures on user performance under guidance was investigated in [7].…”

Section: Related Workmentioning

confidence: 99%

“…Such virtual fixtures have been generated using RGB images [6], Computed Tomography (CT) scans [8,11], X-ray fluoroscopy [16], Magnetic Resonance Imaging (MRI) [3] as well as images from a stereo camera [17]. Computer vision was used in [6] to implement virtual fixtures for point positioning and path following. In [8], a virtual fixture of patient's skull was generated from CT scans.…”

Section: Related Workmentioning

confidence: 99%

Forbidden region virtual fixtures from streaming point clouds

et al. 2014

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Forbidden region virtual fixtures protect objects from unwanted contact with a robot. In this paper, we propose a method for creating forbidden region haptic virtual fixtures for teleoperation from streaming point clouds obtained by an RGB-D camera. Upon violating the protected area, the operator receives force feedback that opposes motion inside the forbidden region. Three architectures for creating virtual fixtures are presented and their advantages and disadvantages are described. The proposed methods have the ability to implement constraints and can handle dynamic environments in real-time. The effectiveness of the methods is demonstrated in experiments with a surgical robot.

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“…Because the robot provides no force feedback, organs could be violated without the knowledge of the operator. Other uses for VFs would be when performing suturing tasks to keep the surgeon within a fixed area for economy of motion benefits [31]. VFs also can be used to demarcate areas of organs where no dissection should occur for reasons such as avoiding penetrating malignancies or vascular structures [32].…”

Section: Augmented Realitymentioning

confidence: 99%

Surgical Simulation in Pediatric Urologic Education

Lendvay

2011

Curr Urol Rep

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The drive to achieve improved patient outcomes and patient safety has led to innovation in surgical education. The century-old teaching paradigms of "see one, do one, teach one" and training by opportunity are inappropriate in a surgical world of rapidly introduced advanced technologies. The need for improved surgical education methods is no more critical than in pediatric surgery, where the complexity of patient diseases and the physical size of the patients tend to challenge the limitations of existing surgical technology and skill. Surgical simulation offers extraordinary opportunities to teach multiple clinical scenarios in a safe, nonhuman patient environment where performance feedback is immediate and objective. Although minimally invasive surgical techniques (laparoscopic and robotic) are ideally suited for computer-assisted or virtual reality training, medical decision-making simulation for minimally invasive surgery and open surgery is in its infancy and, arguably, the most important aspect of effective surgical practice.

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Vision assisted control for manipulation using virtual fixtures

Cited by 106 publications

References 11 publications

Active Handrest for precision manipulation and ergonomic support

Active Handrest for precision manipulation and ergonomic support

Forbidden region virtual fixtures from streaming point clouds

Surgical Simulation in Pediatric Urologic Education

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