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

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dc.identifier.uri http://dx.doi.org/10.15488/2547
dc.identifier.uri http://www.repo.uni-hannover.de/handle/123456789/2573
dc.contributor.author Fellmann, Carolin
dc.contributor.author Kashi, Daryoush
dc.contributor.author Burgner-Kahrs, Jessica
dc.date.accessioned 2017-12-12T12:31:44Z
dc.date.available 2017-12-12T12:31:44Z
dc.date.issued 2015
dc.identifier.citation 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
dc.description.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. eng
dc.language.iso eng
dc.publisher Bellingham, WA : S P I E - International Society for Optical Engineering
dc.relation.ispartofseries Proceedings of SPIE 9415 (2015)
dc.rights 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.
dc.subject Concentric tube continuum robot eng
dc.subject Human-machine interface eng
dc.subject Surgical robotics eng
dc.subject Teleoperation eng
dc.subject Degrees of freedom (mechanics) eng
dc.subject Ergonomics eng
dc.subject Knobs eng
dc.subject Mammals eng
dc.subject Medical imaging eng
dc.subject Remote control eng
dc.subject Robotics eng
dc.subject Robots eng
dc.subject Surgery eng
dc.subject Surveys eng
dc.subject Transplantation (surgical) eng
dc.subject 3 degrees of freedom eng
dc.subject Anatomical structures eng
dc.subject Compliant manipulators eng
dc.subject Continuum robot eng
dc.subject Human Machine Interface eng
dc.subject Minimally invasive surgery eng
dc.subject Surgical robotics eng
dc.subject Task completion time eng
dc.subject Surgical equipment eng
dc.subject.ddc 620 | Ingenieurwissenschaften und Maschinenbau ger
dc.title Evaluation of input devices for teleoperation of concentric tube continuum robots for surgical tasks
dc.type article
dc.type conferenceObject
dc.type Text
dc.relation.issn 16057422
dc.relation.doi https://doi.org/10.1117/12.2076741
dc.bibliographicCitation.volume 9415
dc.bibliographicCitation.firstPage 94151O
dc.description.version publishedVersion
tib.accessRights frei zug�nglich


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