A user interface for a seven degree of freedom surgical robot

AbstractPseudo-haptic feedback is a haptic illusion based on a mismatch of haptic and visual perception. It is well known from applications in virtual environments. In this work, we discuss the usabiliy of the principle of pseudo-haptic feedback for teleoperation. Using pseudo-haptic feedback can ease the design of haptic medical tele-operation systems.Thereby a user’s grasping force at an isometric user interface is used to control the closing angle of an end effector of a surgical robot. To provide a realistic haptic feedback, the coupling characteristic of grasping force and end effector closing angle is changed depending on acting end effector interaction forces.With an experiment, we show the usability of pseudo-haptic feedback for discriminating compliances, comparable to the mechanical characteristic of muscles relaxed and contracted. The provided results base upon the data of 10 subjects, and 300 trails.

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Dynamic analysis of single-degree-of-freedom systems (DYANAS): A graphical user interface for OpenSees

Engineering Structures ◽

10.1016/j.engstruct.2018.09.078 ◽

2018 ◽

Vol 177 ◽

pp. 395-408 ◽

Cited By ~ 3

Author(s):

Georgios Baltzopoulos ◽

Roberto Baraschino ◽

Iunio Iervolino ◽

Dimitrios Vamvatsikos

Keyword(s):

User Interface ◽

Dynamic Analysis ◽

Graphical User Interface ◽

Degree Of Freedom ◽

Single Degree Of Freedom ◽

Single Degree

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Multi-Functional Surgical Robot for Laparo-Endoscopic Single-Site Colectomies

Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B ◽

10.1115/detc2011-48497 ◽

2011 ◽

Author(s):

T. D. Wortman ◽

R. L. McCormick ◽

E. J. Markvicka ◽

T. P. Frederick ◽

S. M. Farritor ◽

...

Keyword(s):

User Interface ◽

Operating Room ◽

Surgical Procedure ◽

Abdominal Cavity ◽

Colon Resection ◽

Surgical Robot ◽

Single Site ◽

Robotic Platform ◽

Robot Platform

This paper presents work to develop a miniature in vivo robot for Laparo-Endoscopic Single-Site (LESS) colectomy. Colon resections are generally not done laparoscopically and would benefit from a robotic platform that reduces the limitations that are currently encountered. This paper looks at the workspace, forces, and speeds of a recently developed miniature in vivo surgical robot platform and analyzes the ability to perform a colon resection based on these criteria. The robotic platform used in this study consists of a two armed robotic prototype and a remote surgeon interface. For the surgical procedure, each arm of the robot is inserted individually into a single five centimeter incision and then assembled within the abdominal cavity. A surgeon then utilizes a user interface that is remotely located within the operating room. The current robotic platform has recently been demonstrated successfully in an in vivo procedure.

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3D Slicer Based Surgical Robot Console System

10.54294/vuva65 ◽

2009 ◽

Author(s):

Atsushi Yamada ◽

Kento Nishibori ◽

Yuichiro Hayashi ◽

Junichi Tokuda ◽

Nobuhiko Hata ◽

...

Keyword(s):

User Interface ◽

Surgical Robot ◽

Video Image ◽

The Other ◽

Sensor Data ◽

Image Guided Surgery ◽

3D Slicer ◽

Guided Surgery ◽

Image Guided ◽

Endoscopic Video

This document describes the surgical robot console system based on 3D Slicer for image-guided surgery. Considering the image-guided surgery, since image workstations have complex User Interface (UI) and extra functions, it is supposed that such UI is not suitable for surgeon who is the robot operator. The proposed robot console is designed as a simple UI for the robot operator, which can display the endoscopic video image, the sensor data, the robot status and simple images for guiding the surgery. Therefore, we expect that the surgeon can concentrate on the operation itself by utilizing the robot console. On the other hand, since the robot console system is based on 3D Slicer, the robot console can use the abundant image operation functions. Moreover, it can use the flexibility of tool connectivities by using the OpenIGTLink protocol. In addition, since the video image is captured by using the multifunctional library OpenCV , we can expect the extensibility about the function of the proposed system.

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Development of a grasping force-feedback user interface for surgical robot system

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) ◽

10.1109/iros.2016.7759149 ◽

2016 ◽

Cited By ~ 8

Author(s):

Uikyum Kim ◽

Dong-Yeop Seok ◽

Yong Bum Kim ◽

Dong-Hyuk Lee ◽

Hyouk Ryeol Choi

Keyword(s):

User Interface ◽

Force Feedback ◽

Surgical Robot ◽

Robot System ◽

Grasping Force

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Kinematic and Workspace Comparison of Four and Five Degree of Freedom Miniature In Vivo Surgical Robot

Journal of Medical Devices ◽

10.1115/1.3590880 ◽

2011 ◽

Vol 5 (2) ◽

Cited By ~ 1

Author(s):

Ryan McCormick ◽

Tyler D. Wortman ◽

Kyle W. Strabala ◽

Tom P. Frederick ◽

Dmitry Oleynikov ◽

...

Keyword(s):

Degree Of Freedom ◽

Surgical Robot

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Interactive Visualization of the Coupler Surfaces of the Spatial 4C Mechanism

Journal of Mechanical Design ◽

10.1115/1.2049067 ◽

2005 ◽

Vol 127 (6) ◽

pp. 1122-1128 ◽

Cited By ~ 4

Author(s):

Pierre M. Larochelle ◽

Agnes M. Agius

Keyword(s):

User Interface ◽

Graphical User Interface ◽

Kinematic Analysis ◽

Interactive Visualization ◽

Ruled Surface ◽

Degree Of Freedom ◽

User Friendly ◽

Four Bar Linkage ◽

Two Degree Of Freedom ◽

Interactive Graphical User Interface

This paper presents a methodology for generating and displaying the coupler surfaces of the spatial 4C mechanism. The 4C mechanism is a two-degree-of-freedom spatial four-bar linkage. The path traced by a point attached to the coupler or floating link defines a surface in space. It is shown that the coupler surface of the spatial 4C mechanism is a ruled surface with 16thdegree directrices. An interactive graphical user interface has been created and integrated with kinematic analysis routines to generate and interactively display these coupler surfaces. The result is a user-friendly and efficient means of generating and visualizing the coupler surfaces of the spatial 4C four-bar mechanism.

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Two Degree of Freedom Plotter Using Robotic Arm

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.1115.499 ◽

2015 ◽

Vol 1115 ◽

pp. 499-502 ◽

Cited By ~ 1

Author(s):

Moinul Bhuiyan ◽

Muhammad Muaz bin Hanafi

Keyword(s):

User Interface ◽

Control Mechanism ◽

Serial Communication ◽

Degree Of Freedom ◽

Robotic Arm ◽

Future Research ◽

Robot Arm ◽

End Effector ◽

System A ◽

Two Degree Of Freedom

This paper represents a two degree of freedom (DoF) robot arm as a plotter system. A pencil tool is used as the end effector of the robotic arm and experimented in drawing alphabets, for example ‘IIUM’. The control mechanism of the prototype is designed using Arduino controller. A user interface is also designed to send necessary commands to the hardware application board using serial communication cable. Through the experimentation, the movement of each joint of the robotic arm is presented in this paper. The result proves the feasibility of the system which could be improved in future research in drawing complex images.

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