Master manipulator designed for highly articulated robotic instruments in single access surgery
File(s)
Accepted version
Author(s)
Type
Conference Paper
Abstract
The performance of a master-slave robotic system depends significantly on the ergonomics and the capability of its master device to correctly interface the user with the slave robot. Master manipulators generating commands in task space represent a commonly adopted solution for controlling a range of slave robots while retaining an ergonomic design. However, these devices present several drawbacks, such as requiring the use of clutching mechanics to compensate for the mismatch between slave and master workspaces, and the lack of capability to intuitively transmit important information such as specific joint limits to the user. In this paper, a novel joint-space master manipulator is presented. This manipulator emulates the kinematic structure of highly flexible surgical instruments which it is designed to control. This system uses 6 active degrees of freedom to compensate for its own weight, as well as to provide force feedback corresponding to the slave robot's joint limits. A force/torque sensor integrated at the end effector is used to relay user-generated forces and torques directly to specific joints. This is performed to counteract the friction stemming from structural constraints imposed by the kinematic design of the instruments. Finally, a usability study is carried out to test the validity of the system, proving that the instruments can be intuitively controlled even at the extremities of the workspace.
Date Issued
2017-12-14
Date Acceptance
2017-06-14
Citation
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, pp.209-214
Publisher
IEEE
Start Page
209
End Page
214
Journal / Book Title
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Copyright Statement
© 2017 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.
Sponsor
Department of Health
Wellcome Trust
Wellcome Trust
Grant Number
HICF-T4-299
HICF-T4-299
HICF-T4-299
Source
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Subjects
Science & Technology
Technology
Computer Science, Artificial Intelligence
Computer Science, Information Systems
Robotics
Computer Science
Publication Status
Published
Start Date
2017-09-24
Finish Date
2017-09-28
Coverage Spatial
Vancouver, BC, Canada
Date Publish Online
2017-12-14