A Self-Adaptive Motion Scaling Framework for Surgical Robot Remote Control

Zhang, Dandan; Xiao, Bo; Huang, Baoru; Zhang, Lin; Liu, Jindong; Yang, Guang‐Zhong

doi:10.1109/lra.2018.2890200

Cited by 41 publications

(22 citation statements)

References 26 publications

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“…As for the slave robot, it keeps still during clutching, so the value of ST will not be influenced by CN significantly. More detailed illustration of the evaluation metrics for master-slave mapping can be found in [23].…”

Section: Results and Analysismentioning

confidence: 99%

“…The number of transitions between modes and the percentage of test time belonging to position mapping mode and the velocity mapping mode is determined by users' preferences and operational habits. Further introduction of context-awareness of the microsurgical scenes can assist the implementation of the intelligent hybrid interface with automatic switching [23]. Therefore, future work will include developing an adaptive hybrid interface to further enhance the teleoperation efficiency for microsurgical robot remote control.…”

Section: Discussionmentioning

confidence: 99%

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A microsurgical robot research platform for robot-assisted microsurgery research and training

Zhang

Chen

et al. 2019

Int J CARS

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Purpose Ocular surgery, ear, nose and throat surgery and neurosurgery are typical types of microsurgery. A versatile training platform can assist microsurgical skills development and accelerate the uptake of robot-assisted microsurgery (RAMS). However, the currently available platforms are mainly designed for macro-scale minimally invasive surgery. There is a need to develop a dedicated microsurgical robot research platform for both research and clinical training. Methods A microsurgical robot research platform (MRRP) is introduced in this paper. The hardware system includes a slave robot with bimanual manipulators, two master controllers and a vision system. It is flexible to support multiple microsurgical tools. The software architecture is developed based on the robot operating system, which is extensible at high-level control. The selection of master-slave mapping strategy was explored, while comparisons were made between different interfaces. Results Experimental verification was conducted based on two microsurgical tasks for training evaluation, i.e. trajectory following and targeting. User study results indicated that the proposed hybrid interface is more effective than the traditional approach in terms of frequency of clutching, task completion time and ease of control. Conclusion Results indicated that the MRRP can be utilized for microsurgical skills training, since motion kinematic data and vision data can provide objective means of verification and scoring. The proposed system can further be used for verifying high-level control algorithms and task automation for RAMS research.

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Section: Results and Analysismentioning

confidence: 99%

Section: Discussionmentioning

confidence: 99%

A microsurgical robot research platform for robot-assisted microsurgery research and training

Zhang

Chen

et al. 2019

Int J CARS

Self Cite

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“…The system is manoeuvrable in terms of grasping frequency, task completion time and movement accuracy. 44,45 A robot specially designed for retinal microsurgery was developed by Edwards et al 46 in University of Oxford. The surgical robot dynamically scales according to the position of the instrument tip in the eye, replicates the surgeon's actions on the joystick of the motion controller and successfully realises the high-precision operation on the human eye.…”

Section: Microsurgery Robotmentioning

confidence: 99%

Research progress and development trend of surgical robot and surgical instrument arm

Zhang

Haiyuan

Cui

et al. 2021

Robotics Computer Surgery

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Background: In recent years, surgical robots have become an indispensable part of the medical field. Surgical robots are increasingly being used in the areas of gynaecological surgery, urological surgery, orthopaedic surgery, general surgery and so forth. In this paper, the development of surgical robots in different operations is reviewed and analysed. In the type of master-slave surgical robotic system, the robotic surgical instrument arms were located in the execution terminal of a surgical robot system, as one of the core components, and directly contact with the patient during the operation, which plays an important role in the efficiency and safety of the operation. In clinical, the arm function and design in different systems varies.Furtherly, the current research progress of robotic surgical instrument arms used in different operations is analysed and summarised. Finally, the challenge and trend are concluded.Methods: According to the classification of surgical types, the development of surgical robots for laparoscopic surgery, neurosurgery, orthopaedics and microsurgery are analysed and summarised. Then, focusing on the research of robotic surgical instrument arms, according to structure type, the research and application of straight-rod surgical instrument arm, joint surgical instrument arm and continuous surgical instrument arm are analysed respectively.Results: According to the discussion and summary of the characteristics of the existing surgical robots and instrument arms, it is concluded that they still have a lot of room for development in the future. Therefore, the development trends of the surgical robot and instrument arm are discussed and analysed in the five aspects of structural materials, modularisation, telemedicine, intelligence and human-machine collaboration. Conclusion:Surgical robots have shown the development trend of miniaturisation, intelligence, autonomy and dexterity. Thereby, in the field of science and technology, the research on the next generation of minimally invasive surgical robots will usher in a peak period of development.

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“…VFs as described in Rosenberg (1993) , Abbott et al (2007) , and Bowyer et al (2014) represent a different type of shared control which enables haptic augmentation. They comprise of attractive VFs that haptically guide the user towards a goal structure as in Selvaggio et al (2018) , repulsive VFs protecting him or her from entering in prohibited zones as in Li et al (2020) , and automated scaling of the user input compared to the instrument tip’s movement as in Zhang et al (2018) . Ovur et al (2019) show that haptic guidance during training in simulation for simple and complex path-following tasks improves performance.…”

Section: State Of the Artmentioning

confidence: 99%

A Digital Twin Approach for Contextual Assistance for Surgeons During Surgical Robotics Training

et al. 2021

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Minimally invasive robotic surgery copes with some disadvantages for the surgeon of minimally invasive surgery while preserving the advantages for the patient. Most commercially available robotic systems are telemanipulated with haptic input devices. The exploitation of the haptics channel, e.g., by means of Virtual Fixtures, would allow for an individualized enhancement of surgical performance with contextual assistance. However, it remains an open field of research as it is non-trivial to estimate the task context itself during a surgery. In contrast, surgical training allows to abstract away from a real operation and thus makes it possible to model the task accurately. The presented approach exploits this fact to parameterize Virtual Fixtures during surgical training, proposing a Shared Control Parametrization Engine that retrieves procedural context information from a Digital Twin. This approach accelerates a proficient use of the robotic system for novice surgeons by augmenting the surgeon’s performance through haptic assistance. With this our aim is to reduce the required skill level and cognitive load of a surgeon performing minimally invasive robotic surgery. A pilot study is performed on the DLR MiroSurge system to evaluate the presented approach. The participants are tasked with two benchmark scenarios of surgical training. The execution of the benchmark scenarios requires basic skills as pick, place and path following. The evaluation of the pilot study shows the promising trend that novel users profit from the haptic augmentation during training of certain tasks.

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A Self-Adaptive Motion Scaling Framework for Surgical Robot Remote Control

Cited by 41 publications

References 26 publications

A microsurgical robot research platform for robot-assisted microsurgery research and training

A microsurgical robot research platform for robot-assisted microsurgery research and training

Research progress and development trend of surgical robot and surgical instrument arm

A Digital Twin Approach for Contextual Assistance for Surgeons During Surgical Robotics Training

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