Safe teleoperation of a laparoscope holder with dynamic precision but low stiffness

Mago, Jesus; Arico, Mario; Silva, Jimmy Da; Morel, Guillaume

doi:10.1109/icra.2019.8794076

Cited by 3 publications

(4 citation statements)

References 13 publications

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“…We presented in [3] a fully backdrivable robotic endoscope holder that features two modes: free and locked mode. In free mode the user can place the camera by hand at any desired position in a comanipulation fashion [4].…”

Section: B Problem Statementmentioning

confidence: 99%

“…π/2 0 0 q 6 are given in appendix, see also [3] and [11]). Notice that, for the experiment presented in this paper, the gravity model of the robot was set to compensate the weight of the endoscope alone, i.e.…”

Section: Top Right Cornermentioning

confidence: 99%

“…Vk is a vector parallel to the end-effector velocity at t = k with magnitude equal to one, whereas Vk−∆t is a vector parallel to the end-effector velocity at time k − ∆t with magnitude equal to one. Let's define ∆Φ(k) as the angle between vectors Vk and Vk−∆t calculated as shown in (3).…”

Section: Fig 5: Illustration Of Robot's End-effector Trajectorymentioning

confidence: 99%

“…Once the detection algorithm declares a fall, the control law of the robot switches to a PID control that will bring the end-effector back to the release position. In order to avoid any harm to the patient, the low-stiffness PID presented in [3] or the PI presented in [15] are good candidates for this purpose. This option can be interesting when, due to small errors in the gravity model of the robot, the endoscope presents small displacements when it is released, meaning that it will not present a risk for the patient.…”

Section: Perspectivesmentioning

confidence: 99%

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Fall detection for robotic endoscope holders in Minimally Invasive Surgery

Mago

Louveau

Vitrani

2021

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

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Classic Minimally Invasive Surgery (MIS) is an ergonomic burden for assistants and surgeons. The former need to adopt uncomfortable positions for hours while holding a camera to track the latter's gestures inside the patient. This incurs assistant's muscle fatigue which can lead to tremor or drift of the video feedback. A backdrivable robotic holder can be attached to this device in order to compensate its weight. This allows the user to place the camera at a desired position which the robot will steadily keep once he/she releases it. However, endoscopic cameras present difficult-to-model accessories whose gravity parameters can change during the same surgery. If these changes are not foreseen by the gravity model of the robot this results in a fall of the endoscope each time it is released. Therefore, it is desired to firstly detect if there is a fall in order to be able to correct it. In this article a fall detection method for a comanipulated robotic endoscope holder is proposed. It evaluates smoothness of the robot end effector trajectory to identify whether the user manipulates the instrument or it has been released and poorly compensated. An experiment was carried out with 10 subjects where 240 releases of the endoscope were performed while it was poorly compensated. The algorithm succeeded to detect the falls with sensitivity up to 99.17%.

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Section: B Problem Statementmentioning

confidence: 99%

Section: Top Right Cornermentioning

confidence: 99%

Section: Fig 5: Illustration Of Robot's End-effector Trajectorymentioning

confidence: 99%

Section: Perspectivesmentioning

confidence: 99%

See 2 more Smart Citations

Fall detection for robotic endoscope holders in Minimally Invasive Surgery

Mago

Louveau

Vitrani

2021

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

Self Cite

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Safe endoscope holding in minimally invasive surgery: zero stiffness and adaptive weight compensation

Mago

Louveau

Vitrani

et al. 2022

2022 International Conference on Robotics and Automation (ICRA)

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Measuring the Quality of Learning in a Human–Robot Collaboration: A Study of Laparoscopic Surgery

Ferrier-Barbut

Gauthier

Luengo

et al. 2022

J. Hum.-Robot Interact.

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Robot-Assisted Laparoscopic Surgery (RALS) is now prevalent in operating rooms. This situation requires future surgeons to learn Classic Laparoscopic Surgery (CLS) and RALS simultaneously. Therefore, along with the investigation of the differences in performance between the two techniques, it is essential to study the impact of training in RALS on the skills mastered in CLS. In this article, we study comanipulated RALS (Co-RALS), one of the two designs for RALS, where the human and the robot share the execution of the task. We use a rarely used in Human–Robot Interaction measuring tool: gaze tracking and time recording to measure for the acquisition of skills in CLS when training in Co-RALS or in CLS and time recording to compare the learning curves between Co-RALS and CLS. These metrics allow us to observe differences in Co-RALS and CLS. Training in Co-RALS develops slightly better but not significantly better hand–eye coordination skills and significantly better timewise performance compared with training in CLS alone. Co-RALS enhances timewise performance in laparoscopic surgery on specific types of tasks that require precision rather than depth perception skills compared with CLS. The results obtained enable us to further define the Human–Robot Interaction quality in Co-RALS.

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Safe teleoperation of a laparoscope holder with dynamic precision but low stiffness

Cited by 3 publications

References 13 publications

Fall detection for robotic endoscope holders in Minimally Invasive Surgery

Fall detection for robotic endoscope holders in Minimally Invasive Surgery

Safe endoscope holding in minimally invasive surgery: zero stiffness and adaptive weight compensation

Measuring the Quality of Learning in a Human–Robot Collaboration: A Study of Laparoscopic Surgery

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