A teleoperated platform for transanal single-port surgery: Ergonomics and workspace aspects

Hatzfeld, Christian; Neupert, Carsten; Matich, Sebastian; Braun, Manuel; Bilz, Johannes; Johannink, Jonas; Miller, Johanna; Pott, Peter P.; Schlaak, Helmut F.; Kupnik, Mario; Werthschützky, Roland; Kirschniak, Andreas

doi:10.1109/whc.2017.7989847

Cited by 9 publications

(11 citation statements)

References 14 publications

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“…The reasons to remotely operate robotic systems are mainly safety, when due to dangerous tasks or manipulation of hazardous materials the user and the robot cannot share the same workspace [7][8][9], because of ergonomic issues [10,11] or when getting access to the working scenario is impossible or hard for the human operator [12,13]. Therefore, robot teleoperation can be useful, for instance, in situations where the robot is performing a task autonomously but the operator takes control of it, either to show the robot how to do it properly or to perform it manually [14].…”

Section: Teleoperation and Interfacesmentioning

confidence: 99%

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Combining haptics and inertial motion capture to enhance remote control of a dual-arm robot

Girbés-Juan

Schettino

Gracia

et al. 2022

J Multimodal User Interfaces

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High dexterity is required in tasks in which there is contact between objects, such as surface conditioning (wiping, polishing, scuffing, sanding, etc.), specially when the location of the objects involved is unknown or highly inaccurate because they are moving, like a car body in automotive industry lines. These applications require the human adaptability and the robot accuracy. However, sharing the same workspace is not possible in most cases due to safety issues. Hence, a multi-modal teleoperation system combining haptics and an inertial motion capture system is introduced in this work. The human operator gets the sense of touch thanks to haptic feedback, whereas using the motion capture device allows more naturalistic movements. Visual feedback assistance is also introduced to enhance immersion. A Baxter dual-arm robot is used to offer more flexibility and manoeuvrability, allowing to perform two independent operations simultaneously. Several tests have been carried out to assess the proposed system. As it is shown by the experimental results, the task duration is reduced and the overall performance improves thanks to the proposed teleoperation method.

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Section: Teleoperation and Interfacesmentioning

confidence: 99%

“…9. The structure of the visual feedback is similar to the one used in surgery teleoperation [10,11], but apart from the real-time video streaming of the robot's environment, some extra information has been added to improve the visual assistance.…”

Section: Visualmentioning

confidence: 99%

Combining haptics and inertial motion capture to enhance remote control of a dual-arm robot

Girbés-Juan

Schettino

Gracia

et al. 2022

J Multimodal User Interfaces

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“…To investigate the role of haptic feedback in robotic surgery, a novel telerobotic master–slave operating system, called FLEXMIN (Fig. 1 ) [ 23 , 24 ], was developed in a cooperation between Tübingen University Hospital and Darmstadt Technical University. The aim and result of this R&D project funded by the German Research Foundation (DFG) was a single-port system that, in particular, can be inserted rectally as for transanal endoscopic micro-surgery (TEM/TEO [ 25 ]).…”

Section: Experiments Haptic Setupmentioning

confidence: 99%

Impact of haptic feedback on applied intracorporeal forces using a novel surgical robotic system—a randomized cross-over study with novices in an experimental setup

Miller¹,

Braun²,

Bilz

et al. 2020

Surg Endosc

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Background Most currently used surgical robots have no force feedback; the next generation displays forces visually. A novel single-port robotic surgical system called FLEXMIN has been developed. Through an outer diameter of 38 mm, two instruments are teleoperated from a surgeon’s control console including true haptic force feedback. One additional channel incorporates a telescope, another is free for special instrument functions. Methods This randomized cross-over study analyzed the effect of haptic feedback on the application of intracorporeal forces. In a standardized experiment setup, the subjects had to draw circles with the surgical robot as gently as possible. The applied forces, the required time spans, and predefined error rates were measured. Results Without haptic feedback, the maximum forces (median/IQR) were 6.43 N/2.96 N. With haptic feedback, the maximum forces were lower (3.57 N/1.94 N, p < 0.001). Also, the arithmetic means of the force progression (p < 0.001) and their standard deviations (p < 0.001) were lower. Not significant were the shorter durations and lower error rates. No sequence effect of force or duration was detected. No characteristic learning or fatigue curve was observed. Conclusions In the experiment setup, the true haptic force feedback can reduce the applied intracorporeal robotic force to one-half when considering the aspects maximum, means, and standard deviation. Other test tasks are needed to validate the influence of force feedback on surgical efficiency and safety.

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“…Recent studies have made an attempt to approach these usability factors separately (e.g., see [3], [7], [8]), often resulting in unbalanced solutions. For instance, when designing comfortable interfaces for prolonged/repetitive operations (e.g., by using grounded systems such as a 3D mouse [9]), the maneuverability and the dynamic response of the operator are undermined.…”

Section: Introductionmentioning

confidence: 99%

A Reconfigurable Interface for Ergonomic and Dynamic Tele-Locomanipulation

Gholami

Tassi

Momi

et al. 2021

2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Prolonged remote tele-locomanipulation of multi degrees-of-freedom mobile manipulators requires a compromise between the system's performance and the operator's ergonomics. Neglecting this demand can significantly affect either the task completion or the level of comfort to achieve it. However, the simultaneous consideration of these key factors has received less attention in the literature. To respond to this demand, in this work, we introduce a new teleoperation setup, which integrates the features of an ergonomic and a highly maneuverable interface into a unified solution. The ergonomic part of the interface implements a 3D mouse-like functionality, enabling the execution of long navigation tasks for the floating base. The highly manoeuvrable interface instead, enables the operator to perform dynamic or more precise manipulation by moving his/her arm in space. The locomotion and manipulation modes of the follower robot are controlled separately, which can be easily and seamlessly switched by the operator by pressing a button at any moment. Furthermore, due to the follower manipulator's redundancy, this robot is controlled by a hierarchical quadratic programming technique which enables the definition of a set of secondary tasks to be executed in the robot's nullspace. Finally, to demonstrate the advantages and disadvantages of the proposed user interfaces, five participants are asked to perform two different experiments: (i) target selection task on a moving surface and (ii) remote path tracking on a fixed surface. The quantitative and qualitative analyses show the effectiveness of the proposed interface during the teleoperation tasks, especially when it comes to the precise and dynamic task execution.

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A teleoperated platform for transanal single-port surgery: Ergonomics and workspace aspects

Cited by 9 publications

References 14 publications

Combining haptics and inertial motion capture to enhance remote control of a dual-arm robot

Combining haptics and inertial motion capture to enhance remote control of a dual-arm robot

Impact of haptic feedback on applied intracorporeal forces using a novel surgical robotic system—a randomized cross-over study with novices in an experimental setup

A Reconfigurable Interface for Ergonomic and Dynamic Tele-Locomanipulation

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