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 - IEEE International Conference on Robotics and Automation
Pages217-222
Number of pages6
Volume2005
DOIs
StatePublished - 2005
Event2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain
Duration: Apr 18 2005Apr 22 2005

Other

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

Fingerprint

Robots
Remote control
Endoscopy
Surgery
Robotics
Stiffness
Geometry
Robotic surgery

Keywords

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

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

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

Performance of surgical robots with automatically generated spatial virtual fixtures. / Li, Ming; Taylor, Russell H.

Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2005 2005. p. 217-222 1570122.

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

Li, M & Taylor, RH 2005, Performance of surgical robots with automatically generated spatial virtual fixtures. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 2005, 1570122, pp. 217-222, 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, 4/18/05. https://doi.org/10.1109/ROBOT.2005.1570122
Li M, Taylor RH. Performance of surgical robots with automatically generated spatial virtual fixtures. In Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2005. 2005. p. 217-222. 1570122 https://doi.org/10.1109/ROBOT.2005.1570122
Li, Ming ; Taylor, Russell H. / Performance of surgical robots with automatically generated spatial virtual fixtures. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2005 2005. pp. 217-222
@inproceedings{46b43dd5533b46c5be5be4b76d13ee31,
title = "Performance of surgical robots with automatically generated spatial virtual fixtures",
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.",
keywords = "Geometric constrain, Optimization robot control, Performance analysis, Virtual fixture",
author = "Ming Li and Taylor, {Russell H}",
year = "2005",
doi = "10.1109/ROBOT.2005.1570122",
language = "English (US)",
isbn = "078038914X",
volume = "2005",
pages = "217--222",
booktitle = "Proceedings - IEEE International Conference on Robotics and Automation",

}

TY - GEN

T1 - Performance of surgical robots with automatically generated spatial virtual fixtures

AU - Li, Ming

AU - Taylor, Russell H

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

UR - http://www.scopus.com/inward/record.url?scp=33846125294&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=33846125294&partnerID=8YFLogxK

U2 - 10.1109/ROBOT.2005.1570122

DO - 10.1109/ROBOT.2005.1570122

M3 - Conference contribution

AN - SCOPUS:33846125294

SN - 078038914X

SN - 9780780389144

VL - 2005

SP - 217

EP - 222

BT - Proceedings - IEEE International Conference on Robotics and Automation

ER -