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Ferrier-Barbut E, Gauthier P, Luengo V, Canlorbe G, Vitrani MA. Measuring the Quality of Learning in a Human–Robot Collaboration: A Study of Laparoscopic Surgery. ACM TRANSACTIONS ON HUMAN-ROBOT INTERACTION 2022. [DOI: 10.1145/3476414] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/17/2022]
Abstract
Robot-Assisted Laparoscopic Surgery (RALS) is now prevalent in operating rooms. This situation requires future surgeons to learn Classic Laparoscopic Surgery (CLS) and RALS simultaneously. Therefore, along with the investigation of the differences in performance between the two techniques, it is essential to study the impact of training in RALS on the skills mastered in CLS. In this article, we study comanipulated RALS (Co-RALS), one of the two designs for RALS, where the human and the robot share the execution of the task. We use a rarely used in Human–Robot Interaction measuring tool: gaze tracking and time recording to measure for the acquisition of skills in CLS when training in Co-RALS or in CLS and time recording to compare the learning curves between Co-RALS and CLS. These metrics allow us to observe differences in Co-RALS and CLS. Training in Co-RALS develops slightly better but not significantly better hand–eye coordination skills and significantly better timewise performance compared with training in CLS alone. Co-RALS enhances timewise performance in laparoscopic surgery on specific types of tasks that require precision rather than depth perception skills compared with CLS. The results obtained enable us to further define the Human–Robot Interaction quality in Co-RALS.
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Zruya O, Sharon Y, Kossowsky H, Forni F, Geftler A, Nisky I. A New Power Law Linking the Speed to the Geometry of Tool-Tip Orientation in Teleoperation of a Robot-Assisted Surgical System. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3193485] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
Affiliation(s)
- Or Zruya
- Department of Biomedical Engineering and the Zlotowsky Center for Neuroscience, Ben-Gurion University of the Negev, Beer Sheva, Israel
| | - Yarden Sharon
- Department of Biomedical Engineering and the Zlotowsky Center for Neuroscience, Ben-Gurion University of the Negev, Beer Sheva, Israel
| | - Hanna Kossowsky
- Department of Biomedical Engineering and the Zlotowsky Center for Neuroscience, Ben-Gurion University of the Negev, Beer Sheva, Israel
| | - Fulvio Forni
- Department of Engineering, University of Cambridge, Cambridge, U.K
| | - Alex Geftler
- Department of Orthopedic Surgery, Soroka Medical Center, Ben-Gurion University of the Negev, Beer Sheva, Israel
| | - Ilana Nisky
- Department of Biomedical Engineering and the Zlotowsky Center for Neuroscience, Ben-Gurion University of the Negev, Beer Sheva, Israel
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Mixed Reality-Enhanced Intuitive Teleoperation with Hybrid Virtual Fixtures for Intelligent Robotic Welding. APPLIED SCIENCES-BASEL 2021. [DOI: 10.3390/app112311280] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 01/03/2023]
Abstract
This paper presents an integrated scheme based on a mixed reality (MR) and haptic feedback approach for intuitive and immersive teleoperation of robotic welding systems. By incorporating MR technology, the user is fully immersed in a virtual operating space augmented by real-time visual feedback from the robot working space. The proposed robotic tele-welding system features imitative motion mapping from the user’s hand movements to the welding robot motions, and it enables the spatial velocity-based control of the robot tool center point (TCP). The proposed mixed reality virtual fixture (MRVF) integration approach implements hybrid haptic constraints to guide the operator’s hand movements following the conical guidance to effectively align the welding torch for welding and constrain the welding operation within a collision-free area. Onsite welding and tele-welding experiments identify the operational differences between professional and unskilled welders and demonstrate the effectiveness of the proposed MRVF tele-welding framework for novice welders. The MRVF-integrated visual/haptic tele-welding scheme reduced the torch alignment times by 56% and 60% compared to the MRnoVF and baseline cases, with minimized cognitive workload and optimal usability. The MRVF scheme effectively stabilized welders’ hand movements and eliminated undesirable collisions while generating smooth welds.
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Abstract
The advent of telerobotic systems has revolutionized various aspects of the industry and human life. This technology is designed to augment human sensorimotor capabilities to extend them beyond natural competence. Classic examples are space and underwater applications when distance and access are the two major physical barriers to be combated with this technology. In modern examples, telerobotic systems have been used in several clinical applications, including teleoperated surgery and telerehabilitation. In this regard, there has been a significant amount of research and development due to the major benefits in terms of medical outcomes. Recently telerobotic systems are combined with advanced artificial intelligence modules to better share the agency with the operator and open new doors of medical automation. In this review paper, we have provided a comprehensive analysis of the literature considering various topologies of telerobotic systems in the medical domain while shedding light on different levels of autonomy for this technology, starting from direct control, going up to command-tracking autonomous telerobots. Existing challenges, including instrumentation, transparency, autonomy, stochastic communication delays, and stability, in addition to the current direction of research related to benefit in telemedicine and medical automation, and future vision of this technology, are discussed in this review paper.
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Review of surgical robotic systems for keyhole and endoscopic procedures: state of the art and perspectives. Front Med 2020; 14:382-403. [DOI: 10.1007/s11684-020-0781-x] [Citation(s) in RCA: 10] [Impact Index Per Article: 2.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/29/2019] [Accepted: 03/05/2020] [Indexed: 02/06/2023]
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Luo J, He W, Yang C. Combined perception, control, and learning for teleoperation: key technologies, applications, and challenges. COGNITIVE COMPUTATION AND SYSTEMS 2020. [DOI: 10.1049/ccs.2020.0005] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/15/2023] Open
Affiliation(s)
- Jing Luo
- Key Laboratory of Autonomous Systems and Networked ControlSchool of Automation Science and EngineeringSouth China University of TechnologyGuangzhou510640People's Republic of China
| | - Wei He
- School of Automation and Electrical EngineeringUniversity of Science and Technology BeijingBeijing100083People's Republic of China
| | - Chenguang Yang
- Key Laboratory of Autonomous Systems and Networked ControlSchool of Automation Science and EngineeringSouth China University of TechnologyGuangzhou510640People's Republic of China
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Marinho MM, Adorno BV, Harada K, Mitsuishi M. Dynamic Active Constraints for Surgical Robots Using Vector-Field Inequalities. IEEE T ROBOT 2019. [DOI: 10.1109/tro.2019.2920078] [Citation(s) in RCA: 30] [Impact Index Per Article: 6.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
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Gruijthuijsen C, Borghesan G, Reynaerts D, Poorten EV. A Hybrid Active/Passive Wrist Approach for Increasing Virtual Fixture Stiffness in Comanipulated Robotic Minimally Invasive Surgery. IEEE Robot Autom Lett 2019. [DOI: 10.1109/lra.2019.2923950] [Citation(s) in RCA: 4] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
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Bai D, Ju F, Qi F, Cao Y, Wang Y, Chen B. A wearable vibrotactile system for distributed guidance in teleoperation and virtual environments. Proc Inst Mech Eng H 2019; 233:244-253. [PMID: 30595086 DOI: 10.1177/0954411918821387] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.2] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/15/2022]
Abstract
A novel wearable vibrotactile system is proposed in this article to enhance the performance of teleoperation robot systems. Using a wearable vibrotactile glove, the proposed system guides the operator in the master-slave control through a vibrotactile-visual guidance method. Based on sensory substitution, the vibrotactile-visual combined guidance method combines vibration stimuli and visual feedback to substitute the virtual guidance force. A vibrotactile potential field is constructed in the workspace of the master-operator to calculate the frequency of the vibration stimulus. To provide vibration stimuli, a novel vibrotactile glove is designed and manufactured based on the layout of the sensitive region of human hand. As the human hand is unable to discriminate vibration stimuli of all frequencies, the vibration stimulus is discretization according to the result of the vibration discriminability experiment. At last, two contrast experiments in obstacle-free and obstacle-existing environments are conducted to verify the feasibility and effectiveness of the wearable vibrotactile system. The results show that this wearable vibrotactile system is an effective solution for guiding the operators in teleoperation and virtual environments.
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Affiliation(s)
- Dongming Bai
- 1 College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China
| | - Feng Ju
- 1 College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China.,2 The State Key Laboratory of Fluid Power and Mechatronic Systems, Hangzhou, China
| | - Fei Qi
- 1 College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China
| | - Yanfei Cao
- 1 College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China
| | - Yaoyao Wang
- 1 College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China.,2 The State Key Laboratory of Fluid Power and Mechatronic Systems, Hangzhou, China
| | - Bai Chen
- 1 College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China
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Gruijthuijsen C, Colchester R, Devreker A, Javaux A, Maneas E, Noimark S, Xia W, Stoyanov D, Reynaerts D, Deprest J, Ourselin S, Desjardins A, Vercauteren T, Vander Poorten E. Haptic Guidance Based on All-Optical Ultrasound Distance Sensing for Safer Minimally Invasive Fetal Surgery. JOURNAL OF MEDICAL ROBOTICS RESEARCH 2018; 3:10.1142/S2424905X18410015. [PMID: 30820482 PMCID: PMC6390942 DOI: 10.1142/s2424905x18410015] [Citation(s) in RCA: 6] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Indexed: 12/30/2022]
Abstract
By intervening during the early stage of gestation, fetal surgeons aim to correct or minimize the effects of congenital disorders. As compared to postnatal treatment of these disorders, such early interventions can often actually save the life of the fetus and also improve the quality of life of the newborn. However, fetal surgery is considered one of the most challenging disciplines within Minimally Invasive Surgery (MIS), owing to factors such as the fragility of the anatomic features, poor visibility, limited manoeuvrability, and extreme requirements in terms of instrument handling with precise positioning. This work is centered on a fetal laser surgery procedure treating placental disorders. It proposes the use of haptic guidance to enhance the overall safety of this procedure and to simplify instrument handling. A method is described that provides effective guidance by installing a forbidden region virtual fixture over the placenta, thereby safeguarding adequate clearance between the instrument tip and the placenta. With a novel application of all-optical ultrasound distance sensing in which transmission and reception are performed with fibre optics, this method can be used with a sole reliance on intraoperatively acquired data. The added value of the guidance approach, in terms of safety and performance, is demonstrated in a series of experiments with a robotic platform.
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Affiliation(s)
| | - Richard Colchester
- Department of Medical Physics & Biomedical Engineering, University College London, UK
| | - Alain Devreker
- Department of Mechanical Engineering, KU Leuven, Belgium
| | - Allan Javaux
- Department of Mechanical Engineering, KU Leuven, Belgium
| | - Efthymios Maneas
- Department of Medical Physics & Biomedical Engineering, University College London, UK
| | - Sacha Noimark
- Department of Medical Physics & Biomedical Engineering, University College London, UK
| | - Wenfeng Xia
- Department of Medical Physics & Biomedical Engineering, University College London, UK
| | - Danail Stoyanov
- Centre for Medical Imaging Computing, University College London, UK
- Wellcome/EPSRC Centre for Interventional and Surgical Sciences, London, UK
| | | | - Jan Deprest
- Department of Obstetrics and Gynecology, Division Woman and Child, Fetal Medicine Unit, KU Leuven, Belgium
- Wellcome/EPSRC Centre for Interventional and Surgical Sciences, London, UK
| | - Sebastien Ourselin
- Centre for Medical Imaging Computing, University College London, UK
- Wellcome/EPSRC Centre for Interventional and Surgical Sciences, London, UK
| | - Adrien Desjardins
- Department of Medical Physics & Biomedical Engineering, University College London, UK
- Wellcome/EPSRC Centre for Interventional and Surgical Sciences, London, UK
| | - Tom Vercauteren
- Department of Medical Physics & Biomedical Engineering, University College London, UK
- Wellcome/EPSRC Centre for Interventional and Surgical Sciences, London, UK
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