Evaluating control modes for constrained robotic surgery

Author

Lai, Fuji ; Howe, Robert D.

Author_Institution

Div. of Eng. & Appl. Sci., Harvard Univ., Cambridge, MA, USA

Volume

1

fYear

2000

fDate

2000

Firstpage

603

Abstract

Minimally invasive surgery (MIS) constrains instrument motions to 4 DOF by precluding lateral motion at the incision. Robotic MIS systems can interpose arbitrary mappings between the surgeon´s motions at the master controller and the motions of instrument tips within the patient´s body. Our goal was to find the interface that was easiest to learn. We investigated the effects of different coordinate frame mappings (screen-mapped versus instrument-mapped) and master dexterities (6 DOF versus 4 DOF) by means of performance measures on simple surgical tasks. All four mode-dexterity combinations had approximately the same time-to-completion. The combination of instrument-based mapping and 4 DOF master had lower error rate and lower subjective workload. This mode most clearly reproduces the task constraints within the patient´s body

Keywords

medical robotics; position control; surgery; telerobotics; constrained robotic surgery; control modes; coordinate frame mappings; four mode-dexterity combinations; instrument-based mapping; master controller; master dexterities; minimally invasive surgery; surgeon´s motions; Control systems; Coordinate measuring machines; Master-slave; Minimally invasive surgery; Motion control; Robot kinematics; Shafts; Surges; Surgical instruments; Wrist;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on

Conference_Location

San Francisco, CA

ISSN

1050-4729

Print_ISBN

0-7803-5886-4

Type

conf

DOI

10.1109/ROBOT.2000.844119

Filename

844119