Zusammenfassung: | |
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.
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Lizenzbestimmungen: | 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. |
Publikationstyp: | BookPart |
Publikationsstatus: | publishedVersion |
Erstveröffentlichung: | 2015 |
Schlagwörter (englisch): | Concentric tube continuum robot, Human-machine interface, Surgical robotics, Teleoperation, Degrees of freedom (mechanics), Ergonomics, Knobs, Mammals, Medical imaging, Remote control, Robotics, Robots, Surgery, Surveys, Transplantation (surgical), 3 degrees of freedom, Anatomical structures, Compliant manipulators, Continuum robot, Human Machine Interface, Minimally invasive surgery, Surgical robotics, Task completion time, Surgical equipment |
Fachliche Zuordnung (DDC): | 620 | Ingenieurwissenschaften und Maschinenbau |
Kontrollierte Schlagwörter: | Konferenzschrift |
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