Riaziat Naveed D, Erin Onder, Krieger Axel, Brown Jeremy D
Department of Mechanical Engineering, Johns Hopkins University, 3400 North Charles Street, Baltimore, Maryland, USA.
Department of Mechanical Engineering, Johns Hopkins University, 3400 North Charles Street, Baltimore, Maryland, USA. He is now with Johnson and Johnson, 5490 Great America Parkway, Santa Clara, California, USA.
IEEE Robot Autom Lett. 2024 Jul;9(7):6178-6185. doi: 10.1109/lra.2024.3397529. Epub 2024 May 7.
The evolution of magnetically actuated millirobots gives rise to unique teleoperation challenges due to their non-traditional kinematic and dynamic architectures, as well as their frequent use of suboptimal imaging modalities. Recent investigations into haptic interfaces for millirobots have shown promise but lack the clinically motivated task scenarios necessary to justify future development. In this work, we investigate the utility of haptic feedback on bilateral teleoperation of a magnetically actuated millirobot in visually deficient conditions. We conducted an N=23 user study in an aneurysm coiling inspired procedure, which required participants to navigate the robot through a maze in near total darkness to manipulate beads to a target under simulated fluoroscopy. We hypothesized that users will be better able to complete the telemanipulation task with haptic feedback while reducing excess forces on their surroundings compared to the no feedback conditions. Our results showed an over 40% improvement in participants' bead scoring, a nearly 10% reduction in mean force, and 13% reduction in maximum force with haptic feedback, as well as significant improvements in other metrics. Results highlight that benefits of haptic feedback are retained when haptic feedback is removed. These findings suggest that haptic feedback has the potential to significantly improve millirobot telemanipulation and control in traditionally vision deficient tasks.
由于其非传统的运动学和动力学结构，以及对次优成像方式的频繁使用，磁驱动微型机器人的发展带来了独特的远程操作挑战。最近对微型机器人触觉接口的研究显示出了前景，但缺乏为未来发展提供正当理由所需的具有临床动机的任务场景。在这项工作中，我们研究了触觉反馈在视觉缺陷条件下对磁驱动微型机器人双边远程操作的效用。我们在一个受动脉瘤栓塞启发的程序中进行了一项N = 23的用户研究，该程序要求参与者在几乎完全黑暗的环境中操纵机器人穿过迷宫，在模拟荧光透视下将珠子操作到目标位置。我们假设，与无反馈条件相比，用户在有触觉反馈的情况下将能够更好地完成远程操作任务，同时减少对周围环境的过大作用力。我们的结果显示，有触觉反馈时，参与者的珠子得分提高了40%以上，平均力降低了近10%，最大力降低了13%，其他指标也有显著改善。结果突出表明，去除触觉反馈后，触觉反馈的益处依然存在。这些发现表明，触觉反馈有可能在传统的视觉缺陷任务中显著改善微型机器人的远程操作和控制。
