Haptics-enabled teleoperation for robot-assisted tumor localization

Abstract

Robot teams require planning and adaptive capabilities in order to perform cooperative manipulation tasks in dynamic or unstructured environments. Since these capabilities are inherent to humans, it is suitable to consider human-robot team teleoperation for cooperative manipulation where a single human collaborates with the robot team. In this paper, we present a subtask-based control approach which enables a simultaneous execution of two subtasks by the robot team, interacting with the object: trajectory tracking and formation preservation. Control inputs for both subtasks are provided by the human operator. The commands are projected onto the spaces of subtasks using a command mapping strategy. Analogously, measured interacting forces are projected onto the space of feedback signals, provided to the human via wearable fingertip haptic devices through a feedback mapping strategy. Experimental results validate the proposed approach.

Cooperative Teleoperation With Projection-Based Force Reflection for MIS

“…1. The setup was developed and integrated by several past researchers at CSTAR in a project on haptics-enabled teleoperation for MIS [19]. The master subsystem includes two haptic wand devices manufactured by Quanser Consulting Inc. enhanced to seven degrees of freedom (DOFs).…”

“…Addition of a Cardan joint at each end of the handle constraints the total number of DOFs of the original haptic interface to five: 1) three translational DOFs and 2) two rotational DOFs (roll and pitch). The haptic wand devices that are used in our experiments were customized to add yaw and grasping DOFs to the original device [19], [20]. In the new design, the handle of the device is divided into two parts, where each part is independently actuated through additional motors.…”

An expertise-oriented training framework for robotics-assisted surgery

“…The experimental setup, shown in Fig. 4, consists of two customized Quanser Haptic Wands as the master robots, and one Mitsubishi PA10-7C robot with a da Vinci tool attached at the tip as the slave robot [26]. a b Fig.…”

“…a b Fig. 4: The experimental setup [7], [26]. a: Quanser haptic wands, b: Mitsubishi PA10-7C robot and da Vinci tool.…”

“…Experimental results: end-effector positions ACKNOWLEDGEMENT The authors would like to thank Dr. A. Talasaz for his assistance in using the dual-arm haptics-enabled teleoperation system[26] located in CSTAR.…”