Haptic-guided shared control for needle grasping optimization in minimally invasive robotic surgery

Selvaggio, Mario; E., Amir M. Ghalamzan; Moccia, Rocco; Ficuciello, Fanny; Siciliano, Bruno

doi:10.1109/iros40897.2019.8968109

Cited by 34 publications

(25 citation statements)

References 25 publications

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“…Moreover, to observe the physical performance of the instrument when performing a suturing action, the index of task‐oriented manipulability 19,20 was used to measure which instrument was more appropriate to complete this suturing action. Therefore, the mean value of task‐oriented manipulability when performing a suturing trajectory was used as the third evaluation index for suturing task assignment, which was:

f = \frac{1}{T} \int_{0}^{T} \frac{1}{{140%true \overset{x}{true}}_{t}^{T} {(J_{t} {140%true J}_{t}^{T})}^{- 1} {\dot{x}}_{t}} d t

where

{\dot{x}}_{t}^{T}

and

{J_{t}}^{T}

represent the transposes of

{\dot{x}}_{t}

and J t , respectively.…”

Section: Methodsmentioning

confidence: 99%

A study on autonomous suturing task assignment in robot‐assisted minimally invasive surgery

Gao

Feng

et al. 2020

Robotics Computer Surgery

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Background Sutures are a set of standard actions which are accomplished by multi‐instruments, researchers studied the robot autonomy of suturing, which was based on movement planning completed by a single instrument, but did not consider the assignment of suturing tasks to instruments. Method A method was proposed for the autonomous suturing task assignment to instruments, which built a comprehensive evaluation index under some constraint conditions to determine the optimal scheme of the suturing task assignment to instruments. Results An experiment of duodenal ulcer repair with a suturing operation was conducted under the guidance of a surgeon, and the results showed that the optimal scheme of the suturing task assignment was obtained by using the proposed method. Conclusions The proposed method can be used for autonomous suturing task assignment, which is beneficial for improving the intelligence of robot operation.

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f = \frac{1}{T} \int_{0}^{T} \frac{1}{{140%true \overset{x}{true}}_{t}^{T} {(J_{t} {140%true J}_{t}^{T})}^{- 1} {\dot{x}}_{t}} d t

where

{\dot{x}}_{t}^{T}

and

{J_{t}}^{T}

represent the transposes of

{\dot{x}}_{t}

and J t , respectively.…”

Section: Methodsmentioning

confidence: 99%

A study on autonomous suturing task assignment in robot‐assisted minimally invasive surgery

Gao

Feng

et al. 2020

Robotics Computer Surgery

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show abstract

“…Haptic guidance is used to avoid inter-robot collisions, joint limits, and singularities. Haptic-based shared control has been applied to both multi-target grasping in a cluttered and unknown environment [34], as well as to single-target grasping, accounting for post-grasping manipulation objectives [8], [35]. None of the above works has, however, explicitly addressed the problem of remotely transporting an object that is not firmly grasped by the robot.…”

Section: A Related Workmentioning

confidence: 99%

A Shared-Control Teleoperation Architecture for Nonprehensile Object Transportation

et al. 2022

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This article proposes a shared-control teleoperation architecture for robot manipulators transporting an object on a tray. Differently from many existing studies about remotely operated robots with firm grasping capabilities, we consider the case in which, in principle, the object can break its contact with the robot end-effector. The proposed shared-control approach automatically regulates the remote robot motion commanded by the user and the end-effector orientation to prevent the object from sliding over the tray. Furthermore, the human operator is provided with haptic cues informing about the discrepancy between the commanded and executed robot motion, which assist the operator throughout the task execution.We carried out trajectory tracking experiments employing an autonomous 7 degree-of-freedom (DoF) manipulator and compared the results obtained using the proposed approach with two different control schemes (i.e., constant tray orientation and no motion adjustment). We also carried out a human-subjects study involving eighteen participants, in which a 3-DoF haptic device was used to teleoperate the robot linear motion and display haptic cues to the operator. In all experiments, the results clearly show that our control approach outperforms the other solutions in terms of sliding prevention, robustness, commands tracking, and user's preference.

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“…However, their effective integration is subject to the stability and the safety certification of the interactive robotic system. Haptic-based SC/SA frameworks have been developed to guide the user towards grasp poses that maximize manipulation capabilities [89], [90], or avoid incurring into the system constraints along post-grasping trajectories [91]. At a larger scale, whole-body haptic teleoperation interfaces are currently being developed for bipedal robots to provide the user with a sense of the robot's executed motion [92].…”

Section: Haptic Communicationmentioning

confidence: 99%

Autonomy in Physical Human-Robot Interaction: A Brief Survey

Selvaggio

Cognetti²,

Nikolaidis³

et al. 2021

IEEE Robot. Autom. Lett.

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Sharing the control of a robotic system with an autonomous controller allows a human to reduce his/her cognitive and physical workload during the execution of a task. In recent years, the development of inference and learning techniques has widened the spectrum of applications of shared control (SC) approaches, leading to robotic systems that are capable of seamless adaptation of their autonomy level. In this perspective, shared autonomy (SA) can be defined as the design paradigm that enables this adapting behavior of the robotic system.This letter collects the latest results achieved by the research community in the field of SC and SA with special emphasis on physical human-robot interaction (pHRI). Architectures and methods developed for SC and SA are discussed throughout the paper, highlighting the key aspects of each methodology. A discussion about open issues concludes this letter.

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Haptic-guided shared control for needle grasping optimization in minimally invasive robotic surgery

Cited by 34 publications

References 25 publications

A study on autonomous suturing task assignment in robot‐assisted minimally invasive surgery

A study on autonomous suturing task assignment in robot‐assisted minimally invasive surgery

A Shared-Control Teleoperation Architecture for Nonprehensile Object Transportation

Autonomy in Physical Human-Robot Interaction: A Brief Survey

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