Performance of surgical robots with automatically generated spatial virtual fixtures

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publicationProceedings of the 2005 IEEE International Conference on Robotics and Automation
Pages217-222
Number of pages6
DOIs
StatePublished - Dec 1 2005
Event2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain
Duration: Apr 18 2005Apr 22 2005

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2005
ISSN (Print)1050-4729

Other

Other2005 IEEE International Conference on Robotics and Automation
CountrySpain
CityBarcelona
Period4/18/054/22/05

Keywords

  • Geometric constrain
  • Optimization robot control
  • Performance analysis
  • Virtual fixture

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Li, M., & Taylor, R. H. (2005). Performance of surgical robots with automatically generated spatial virtual fixtures. In Proceedings of the 2005 IEEE International Conference on Robotics and Automation (pp. 217-222). [1570122] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2005). https://doi.org/10.1109/ROBOT.2005.1570122