Portability and applicability of virtual fixtures across medical and manufacturing tasks

Lin, Henry; Mills, Kelly A.; Kazanzides, Peter; Hager, Gregory D.; Marayong, Panadda; Okamura, Allison M.; Karam, Ricardo

doi:10.1109/robot.2006.1641188

Cited by 31 publications

(31 citation statements)

References 11 publications

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“…Using force feedback in the form of an attractive force, Hwang et al found that the amount of time lost due to haptic feedback generated by surrounding non-target objects was still shorter than the time taken to the target without haptic feedback [4]. Haptic feedback, created in a form of motion guidance called virtual fixtures, improved performance of human-machine collaborative tasks including those performed for laparoscopic surgery [9][10][11][12], manufacturing [13], and teleoperation [14][15][16].…”

Section: Prior Workmentioning

confidence: 99%

Integration framework for NASA NextGen Volumetric Cockpit Situation Display with haptic feedback

Robles

Sguerri

Rorie

et al. 2012

2012 IEEE International Conference on Robotics and Automation

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In this paper, we present a framework for the integration of force feedback information in a NASA NextGen Volumetric Cockpit Situation Display (CSD). With the current CSD, the user retrieves operational information solely through visual displays and interacts with the CSD tools through using a mouse. The advanced capabilities of the CSD may require complex manipulation of information which may be difficult to perform with input devices found in today's cockpits. Performance with the CSD could benefit from a new user input device and enhanced user feedback modalities that can be operated safely, effectively, and intuitively in a cockpit environment. In this work, we investigate the addition of force feedback in two key CSD tasks: object selection and route manipulation. Different force feedback models were applied to communicate guidance commands, such as collision avoidance and target contact. We also discuss the development of a GUIbased software interface to allow the integration of a haptic device for the CSD. A preliminary user study was conducted on a testbed system using the Novint Falcon force-feedback device. A full experiment, assessing the effectiveness and usability of the feedback model in the CSD, will be performed in the next phase of our research.

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Section: Prior Workmentioning

confidence: 99%

Integration framework for NASA NextGen Volumetric Cockpit Situation Display with haptic feedback

Robles

Sguerri

Rorie

et al. 2012

2012 IEEE International Conference on Robotics and Automation

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show abstract

“…In this paper, we apply machine learning and probabilistic methods to "virtual guiding fixtures" (Lin et al, 2006), so that nonexpert users can teach new fixtures, and the robot is able to recognize on-line which fixture the human intends to select.…”

Section: Introductionmentioning

confidence: 99%

“…A virtual guiding fixture (Lin et al, 2006) constrains the motion of an end-effector to certain task-relevant trajectories. A well-known example of a guiding fixture from everyday life is the ruler, which allows us to draw very straight lines by constraining the movement of the pen tip along a 1-D trajectory on the 2-D paper.…”

Section: Introductionmentioning

confidence: 99%

Co-manipulation with a library of virtual guiding fixtures

et al. 2017

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Virtual guiding fixtures constrain the movements of a robot to task-relevant trajectories, and have been successfully applied to, for instance, surgical and manufacturing tasks. Whereas previous work has considered guiding fixtures for single tasks, in this paper we propose a library of guiding fixtures for multiple tasks, and propose methods for 1) Creating and adding guides based on machine learning; 2) Selecting guides on-line based on probabilistic implementation of guiding fixtures; 3) Refining existing guides based on an incremental learning method. We demonstrate in an industrial task that a library of guiding fixtures provides an intuitive haptic interface for joint human-robot completion of tasks, and improves performance in terms of task execution time, mental workload and errors.

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“…Vision-based control combines visual information of the anatomy with robotic control to enforce tip constraints, or virtual fixtures, which enact task-specific behaviors and provide guidance to the surgeon during procedure [20], [21]. In retinal vessel cannulation, knowledge of the vessel location relative to the instrument tip can aid robotic behavior and more effectively help guide the robot during injections into the vessel [22], [23]. During retinal laser photocoagulation, placing bums on retinal vessels should be avoided as this can occlude the vein, possibly causing vitreous hemorrhage [7].…”

Section: Introductionmentioning

confidence: 99%

Real-time retinal vessel mapping and localization for intraocular surgery

Becker

Riviere

2013

2013 IEEE International Conference on Robotics and Automation

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Computer-aided intraocular surgery requires precise, real-time knowledge of the vasculature during retinal procedures such as laser photocoagulation or vessel cannulation. Because vitreoretinal surgeons manipulate retinal structures on the back of the eye through ports in the sclera, voluntary and involuntary tool motion rotates the eye in the socket and causes movement to the microscope view of the retina. The dynamic nature of the surgical workspace during intraocular surgery makes mapping, tracking, and localizing vasculature in real time a challenge. We present an approach that both maps and localizes retinal vessels by temporally fusing and registering individual-frame vessel detections. On video of porcine and human retina, we demonstrate real-time performance, rapid convergence, and robustness to variable illumination and tool occlusion.

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Portability and applicability of virtual fixtures across medical and manufacturing tasks

Cited by 31 publications

References 11 publications

Integration framework for NASA NextGen Volumetric Cockpit Situation Display with haptic feedback

Integration framework for NASA NextGen Volumetric Cockpit Situation Display with haptic feedback

Co-manipulation with a library of virtual guiding fixtures

Real-time retinal vessel mapping and localization for intraocular surgery

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