Samad Manar D, Hu Yaoping, Sutherland Garnette R
Dept. of Electrical and Computer Engineering (ECE), University of Calgary (U of C), AB, CANADA.
Annu Int Conf IEEE Eng Med Biol Soc. 2010;2010:2093-6. doi: 10.1109/IEMBS.2010.5626171.
In robot-assisted surgery, it may be important to provide force feedback to the hand of the surgeon. Here we examine how force feedback from each degree of freedom (DOF) on a hand controller affects the motion accuracy of a surgical tool. We studied the motion accuracy of a needle-shaped tool in performing a robot-assisted tracing task. On a virtual simulation of the tool and neuroArm robot, human participants manipulated a hand controller to move the tool attached to the end-effector of the robot. They used the tool to trace a line on pipes (mimicking blood vessels) along 3 orthogonal directions, corresponding to 3 DOF on the hand controller. We observed that force feedback from each DOF on the hand controller had a significant effect on the motion accuracy of the tool during tracing. Varying force conditions yielded insignificant difference in motion accuracy. These results indicate a need of revising the hand controller for achieving improved motion accuracy in performing robot-assisted tasks.
在机器人辅助手术中，向外科医生的手部提供力反馈可能很重要。在此，我们研究了手部控制器上每个自由度（DOF）的力反馈如何影响手术工具的运动精度。我们研究了针状工具在执行机器人辅助追踪任务时的运动精度。在工具和神经臂机器人的虚拟模拟中，人类参与者操纵手部控制器来移动连接到机器人末端执行器的工具。他们使用该工具沿着3个正交方向在管道（模拟血管）上追踪一条线，这3个正交方向对应于手部控制器上的3个自由度。我们观察到，手部控制器上每个自由度的力反馈在追踪过程中对工具的运动精度有显著影响。不同的力条件在运动精度上产生的差异不显著。这些结果表明，需要对手部控制器进行改进，以在执行机器人辅助任务时提高运动精度。
