An Ungrounded Hand-Held Surgical Device Incorporating Active Constraints with Force-Feedback
Identifieur interne : 001849 ( Pmc/Curation ); précédent : 001848; suivant : 001850An Ungrounded Hand-Held Surgical Device Incorporating Active Constraints with Force-Feedback
Auteurs : Christopher J. Payne ; Ka-Wai Kwok ; Guang-Zhong YangSource :
- Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems [ 2153-0858 ] ; 2013.
Abstract
This paper presents an ungrounded, hand-held surgical device that incorporates active constraints and force-feedback. Optical tracking of the device and embedded actuation allow for real-time motion compensation of a surgical tool as an active constraint is encountered. The active constraints can be made soft, so that the surgical tool tip motion is scaled, or rigid, so as to altogether prevent the penetration of the active constraint. Force-feedback is also provided to the operator so as to indicate penetration of the active constraint boundary by the surgical tool. The device has been evaluated in detailed bench tests to quantify its motion scaling and force-feedback capabilities. The combined effects of force-feedback and motion compensation are demonstrated during palpation of an active constraint with rigid and soft boundaries. A user study evaluated the combined effect of motion compensation and force-feedback in preventing penetration of a rigid active constraint. The results have shown the potential of the device operating in an ungrounded setup that incorporates active constraints with force-feedback.
Url:
DOI: 10.1109/IROS.2013.6696717
PubMed: 24744963
PubMed Central: 3987169
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PMC:3987169Le document en format XML
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<author><name sortKey="Kwok, Ka Wai" sort="Kwok, Ka Wai" uniqKey="Kwok K" first="Ka-Wai" last="Kwok">Ka-Wai Kwok</name>
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<author><name sortKey="Yang, Guang Zhong" sort="Yang, Guang Zhong" uniqKey="Yang G" first="Guang-Zhong" last="Yang">Guang-Zhong Yang</name>
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<front><div type="abstract" xml:lang="en"><p id="P1">This paper presents an ungrounded, hand-held surgical device that incorporates active constraints and force-feedback. Optical tracking of the device and embedded actuation allow for real-time motion compensation of a surgical tool as an active constraint is encountered. The active constraints can be made soft, so that the surgical tool tip motion is scaled, or rigid, so as to altogether prevent the penetration of the active constraint. Force-feedback is also provided to the operator so as to indicate penetration of the active constraint boundary by the surgical tool. The device has been evaluated in detailed bench tests to quantify its motion scaling and force-feedback capabilities. The combined effects of force-feedback and motion compensation are demonstrated during palpation of an active constraint with rigid and soft boundaries. A user study evaluated the combined effect of motion compensation and force-feedback in preventing penetration of a rigid active constraint. The results have shown the potential of the device operating in an ungrounded setup that incorporates active constraints with force-feedback.</p>
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<title-group><article-title>An Ungrounded Hand-Held Surgical Device Incorporating Active Constraints with Force-Feedback</article-title>
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<contrib-group><contrib contrib-type="author"><name><surname>Payne</surname>
<given-names>Christopher J.</given-names>
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<contrib contrib-type="author"><name><surname>Kwok</surname>
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<contrib contrib-type="author"><name><surname>Yang</surname>
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<aff id="A1">Christopher J. Payne, Ka-Wai Kwok and Guang-Zhong Yang are with the Hamlyn Centre for Robotic Surgery, Imperial College London, UK</aff>
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<author-notes><corresp id="CR1"><email>christopher.payne@imperial.ac.uk</email>
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<volume>2013</volume>
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<permissions><copyright-statement>©2013 IEEE</copyright-statement>
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<abstract><p id="P1">This paper presents an ungrounded, hand-held surgical device that incorporates active constraints and force-feedback. Optical tracking of the device and embedded actuation allow for real-time motion compensation of a surgical tool as an active constraint is encountered. The active constraints can be made soft, so that the surgical tool tip motion is scaled, or rigid, so as to altogether prevent the penetration of the active constraint. Force-feedback is also provided to the operator so as to indicate penetration of the active constraint boundary by the surgical tool. The device has been evaluated in detailed bench tests to quantify its motion scaling and force-feedback capabilities. The combined effects of force-feedback and motion compensation are demonstrated during palpation of an active constraint with rigid and soft boundaries. A user study evaluated the combined effect of motion compensation and force-feedback in preventing penetration of a rigid active constraint. The results have shown the potential of the device operating in an ungrounded setup that incorporates active constraints with force-feedback.</p>
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