TY - GEN
T1 - Virtual fixture assistance for needle passing and knot tying
AU - Chen, Zihan
AU - Malpani, Anand
AU - Chalasani, Preetham
AU - Deguet, Anton
AU - Vedula, S. Swaroop
AU - Kazanzides, Peter
AU - Taylor, Russell H.
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/11/28
Y1 - 2016/11/28
N2 - Suturing is a challenging and highly dexterous task in minimally invasive surgery, even with the assistance of robotic surgical systems. In this work, we propose a simple yet versatile impedance virtual fixture framework, which can be applied on the master manipulator in a tele-operated robotic surgical system. With this framework, we further develop two types of virtual fixtures that assist with the needle passing and knot tying sub-tasks in suturing. The paper also presents the results of a 14-participant user study for both needle passing and knot tying sub-tasks, showing that virtual fixture assistance for novice users increases the needle passing exit point accuracy, reduces the number of errors (suture slip) in knot tying, and simultaneously decreases the task completion time and overall operator workload.
AB - Suturing is a challenging and highly dexterous task in minimally invasive surgery, even with the assistance of robotic surgical systems. In this work, we propose a simple yet versatile impedance virtual fixture framework, which can be applied on the master manipulator in a tele-operated robotic surgical system. With this framework, we further develop two types of virtual fixtures that assist with the needle passing and knot tying sub-tasks in suturing. The paper also presents the results of a 14-participant user study for both needle passing and knot tying sub-tasks, showing that virtual fixture assistance for novice users increases the needle passing exit point accuracy, reduces the number of errors (suture slip) in knot tying, and simultaneously decreases the task completion time and overall operator workload.
UR - http://www.scopus.com/inward/record.url?scp=85006485853&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85006485853&partnerID=8YFLogxK
U2 - 10.1109/IROS.2016.7759365
DO - 10.1109/IROS.2016.7759365
M3 - Conference contribution
AN - SCOPUS:85006485853
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2343
EP - 2350
BT - IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
Y2 - 9 October 2016 through 14 October 2016
ER -