Foot gestures to control the grasping of a surgical robot
File(s)
Author(s)
Cheng, Yijun
Huang, Yanpei
Wang, Ziwei
Burdet, Etienne
Type
Conference Paper
Abstract
Many surgical tasks require three or more tools working together, where a hands-free interface could extend a surgeon's actions to control a third surgical tool. However, most current interfaces do not allow skilled control of grasping critical to robotic manipulation. Here we first present a systematic study to identify efficient and intuitive interaction strategies to control grasping of a surgical tool. A series of experiments were conducted to evaluate six foot pressure-based gestures. Based on the results, three modular novel foot-machine interfaces were developed, which can be integrated with other motion control interfaces. The identified interaction strategies were implemented to control a laparoscopic tool in a surgical simulator, and evaluated in a user study. The results illustrate how naive participants can operate grasping yielding smooth and pick & place operation.
Date Issued
2023-07-04
Date Acceptance
2023-05-01
Citation
2023 IEEE International Conference on Robotics and Automation (ICRA), 2023, pp.6844-6850
ISSN
1050-4729
Publisher
IEEE
Start Page
6844
End Page
6850
Journal / Book Title
2023 IEEE International Conference on Robotics and Automation (ICRA)
Copyright Statement
Copyright © 2023 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Source
IEEE International Conference on Robotics and Automation (ICRA)
Subjects
Automation & Control Systems
Computer Science
Computer Science, Artificial Intelligence
Engineering
Engineering, Electrical & Electronic
INTERFACE
Robotics
Science & Technology
Technology
Publication Status
Published
Start Date
2023-05-29
Finish Date
2023-06-02
Coverage Spatial
London, UK