TY - GEN
T1 - Performance of surgical robots with automatically generated spatial virtual fixtures
AU - Li, Ming
AU - Taylor, Russell H.
N1 - Copyright:
Copyright 2008 Elsevier B.V., All rights reserved.
PY - 2005
Y1 - 2005
N2 - Our recent work on robotic surgical assistant systems has led us to develop a method to generate spatial motion constraints associated with complex 3D geometry for controlling a robot in a complicated working configuration. An application of specific interest is sinus surgery, in which complicated anatomic structure constrains the motion of the endoscope and other instruments, which are inserted through the nose into a sinus cavity. We have implemented this method in both hands-on cooperative operation and teleoperation control mode. We evaluate and compare user performance in these two operation modes. We show that cooperative operation is more intuitive for the user and easier to use. On the other hand, due to the robot stiffness of our current implementation, teleoperation mode shows more accurate. Both of these two robot-assisted modes significantly improve human's performance compared to the totally freehand motion.
AB - Our recent work on robotic surgical assistant systems has led us to develop a method to generate spatial motion constraints associated with complex 3D geometry for controlling a robot in a complicated working configuration. An application of specific interest is sinus surgery, in which complicated anatomic structure constrains the motion of the endoscope and other instruments, which are inserted through the nose into a sinus cavity. We have implemented this method in both hands-on cooperative operation and teleoperation control mode. We evaluate and compare user performance in these two operation modes. We show that cooperative operation is more intuitive for the user and easier to use. On the other hand, due to the robot stiffness of our current implementation, teleoperation mode shows more accurate. Both of these two robot-assisted modes significantly improve human's performance compared to the totally freehand motion.
KW - Geometric constrain
KW - Optimization robot control
KW - Performance analysis
KW - Virtual fixture
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U2 - 10.1109/ROBOT.2005.1570122
DO - 10.1109/ROBOT.2005.1570122
M3 - Conference contribution
AN - SCOPUS:33846125294
SN - 078038914X
SN - 9780780389144
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 217
EP - 222
BT - Proceedings of the 2005 IEEE International Conference on Robotics and Automation
T2 - 2005 IEEE International Conference on Robotics and Automation
Y2 - 18 April 2005 through 22 April 2005
ER -