Evaluation of command modes of an assistance robot for middle ear surgery

Author

Kazmitcheff, Guillaume ; Miroir, Mathieu ; Nguyen, Yann ; Célérier, Charlotte ; Mazalaigue, Stéphane ; Ferrary, Evelyne ; Sterkers, Olivier ; Grayeli, Alexis Bozorg

Author_Institution

Inserm, Univ. Paris 7, Paris, France

fYear

2011

fDate

25-30 Sept. 2011

Firstpage

2532

Lastpage

2538

Abstract

RobOtol is a micro-surgical tele operated system designed to assist middle ear surgery. A new prototype, with an improved controller system and mechanical enhancement is presented. Surgeons and engineers evaluated the robot by tasks specific to middle ear surgery with two command modes (position-velocity and position-position) and by questionnaires. There was no prevailing command mode. A human robot interface was developed to offer easy and fast intra operative adaptation of the command mode to surgeons´ preferences and specific situations.

Keywords

human-robot interaction; medical robotics; surgery; telerobotics; RobOtol; assistance robot; command modes evaluation; human robot interface; intra operative adaptation; microsurgical teleoperated system; middle ear surgery; position-position; position-velocity; Ear; Electron tubes; Prosthetics; Prototypes; Robot kinematics; Surgery;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on

Conference_Location

San Francisco, CA

ISSN

2153-0858

Print_ISBN

978-1-61284-454-1

Type

conf

DOI

10.1109/IROS.2011.6094634

Filename

6094634