Implicit Gaze-Assisted Adaptive Motion Scaling for Highly Articulated Instrument Manipulation
File(s)
Accepted version
Author(s)
Type
Conference Paper
Abstract
Traditional robotic surgical systems rely entirely on robotic arms to triangulate articulated instruments inside the human anatomy. This configuration can be ill-suited for working in tight spaces or during single access approaches, where little to no triangulation between the instrument shafts is possible. The control of these instruments is further obstructed by ergonomic issues: The presence of motion scaling imposes the use of clutching mechanics to avoid the workspace limitations of master devices, and forces the user to choose between slow, precise movements, or fast, less accurate ones. This paper presents a bi-manual system using novel self-triangulating 6-degrees-of-freedom (DoF) tools through a flexible elbow, which are mounted on robotic arms. The control scheme for the resulting 9-DoF system is detailed, with particular emphasis placed on retaining maximum dexterity close to joint limits. Furthermore, this paper introduces the concept of gaze-assisted adaptive motion scaling. By combining eye tracking with hand motion and instrument information, the system is capable of inferring the user's destination and modifying the motion scaling accordingly. This safe, novel approach allows the user to quickly reach distant locations while retaining full precision for delicate manoeuvres. The performance and usability of this adaptive motion scaling is evaluated in a user study, showing a clear improvement in task completion speed and in the reduction of the need for clutching.
Date Issued
2017-07-24
Date Acceptance
2017-01-15
Citation
IEEE International Conference on Robotics and Automation : ICRA : [proceedings] IEEE International Conference on Robotics and Automation, 2017
ISSN
2152-4092
Publisher
IEEE
Journal / Book Title
IEEE International Conference on Robotics and Automation : ICRA : [proceedings] IEEE International Conference on Robotics and Automation
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
Department of Health
Grant Number
HICF-T4-299
HICF-T4-299
HICF-T4-299
HICF-T4-299
Source
International Conference on Robotics and Automation (ICRA)
Publication Status
Published
Start Date
2017-05-29
Finish Date
2017-06-03
Coverage Spatial
Singapore, Singapore