Evaluation of input devices for teleoperation of concentric tube continuum robots for surgical tasks

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Fellmann, C.; Kashi, D.; Burgner-Kahrs, J.: Evaluation of input devices for teleoperation of concentric tube continuum robots for surgical tasks. In: Proceedings of SPIE 9415 (2015), 94151O. DOI: https://doi.org/10.1117/12.2076741

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To cite the version in the repository, please use this identifier: https://doi.org/10.15488/2547

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Sum total of downloads: 83




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Abstract: 
For those minimally invasive surgery where conventional surgical instruments cannot reach the surgical site due to their straight structure and rigidity, concentric tube continuum robots are a promising technology because of their small size (comparable to a needle) and maneuverability. These flexible, compliant manipulators can easily access hard to reach anatomical structures, e.g. by turning around corners. By teleoperating the robot the surgeon stays in direct control at any time. In this paper, three off-the-shelf input devices are considered for teleoperation of a concentric tube continuum robot: a 3D mouse, a gamepad, and a 3 degrees of freedom haptic input device. Three tasks which mimic relevant surgical maneuvers are performed by 12 subjects using each input device: reaching specific locations, picking and placing objects from one location to another, and approaching the surgical site through a restricted pathway. We present quantitative results (task completion time, accuracy, etc.), a statistical analysis, and empirical results (questionnaires). Overall, the performance of subjects using the 3D mouse was superior to the performance using the other input devices. The subjective ranking of the 3D mouse by the subjects confirms this result. © 2015 SPIE.
License of this version: Es gilt deutsches Urheberrecht. Das Dokument darf zum eigenen Gebrauch kostenfrei genutzt, aber nicht im Internet bereitgestellt oder an Außenstehende weitergegeben werden. Dieser Beitrag ist aufgrund einer (DFG-geförderten) Allianz- bzw. Nationallizenz frei zugänglich.
Document Type: article
Publishing status: publishedVersion
Issue Date: 2015
Appears in Collections:Fakultät für Elektrotechnik und Informatik
Fakultät für Maschinenbau

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pos. country downloads
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1 image of flag of Germany Germany 75 90.36%
2 image of flag of United States United States 4 4.82%
3 image of flag of Slovenia Slovenia 1 1.20%
4 image of flag of Japan Japan 1 1.20%
5 image of flag of Estonia Estonia 1 1.20%
6 image of flag of Canada Canada 1 1.20%

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