Human-Robot Interfaces of the NeuRoboScope: A Minimally Invasive Endoscopic Pituitary Tumor Surgery Robotic Assistance System

2020 ◽  
Author(s):  
Mehmet Ismet Can Dede ◽  
Gokhan Kiper ◽  
Tolga Ayav ◽  
Barbaros Özdemirel ◽  
Enver Tatlicioglu ◽  
...  
Keyword(s):  
Minimally Invasive ◽  
Interaction Design ◽  
User Study ◽  
Pituitary Tumors ◽  
Human Robot Interaction ◽  
Ease Of Use ◽  
Physical Interaction ◽  
Endoscopic Endonasal ◽  
Wide Range ◽  
Human Robot Interfaces

Abstract Endoscopic endonasal surgery is a commonly practiced minimally invasive neurosurgical operation for the treatment of a wide range of skull base pathologies including pituitary tumors. A common shortcoming of this surgery is the necessity of a third hand when the endoscope has to be handled to allow active use of both hands of the main surgeon. The robot surgery assistant NeuRoboScope system has been developed to take over the endoscope from the main surgeon's hand while providing the surgeon with the necessary means of controlling the location and direction of the endoscope. One of the main novelties of the NeuRoboScope system is its human-robot interface designs which regulate and facilitate the interaction between the surgeon and the robot assistant. The human-robot interaction design of the NeuRoboScope system is investigated in two domains: direct physical interaction and master-slave teleoperation. The user study indicating the learning curve and ease of use of the master-slave teleoperation is given and this paper is concluded via providing the reader with an outlook of possible new human-robot interfaces for the robot assisted surgery systems.

scholarly journals Task-Level Authoring for Remote Robot Teleoperation

2021 ◽  
Vol 8 ◽  
Author(s):  
Emmanuel Senft ◽  
Michael Hagenow ◽  
Kevin Welsh ◽  
Robert Radwin ◽  
Michael Zinn ◽  
...  
Keyword(s):  
User Study ◽  
End Users ◽  
Ease Of Use ◽  
Prototype System ◽  
Direct Control ◽  
Uncertain Environments ◽  
Wide Range ◽  
The Rich ◽  
High Level ◽  
Task Level

Remote teleoperation of robots can broaden the reach of domain specialists across a wide range of industries such as home maintenance, health care, light manufacturing, and construction. However, current direct control methods are impractical, and existing tools for programming robot remotely have focused on users with significant robotic experience. Extending robot remote programming to end users, i.e., users who are experts in a domain but novices in robotics, requires tools that balance the rich features necessary for complex teleoperation tasks with ease of use. The primary challenge to usability is that novice users are unable to specify complete and robust task plans to allow a robot to perform duties autonomously, particularly in highly variable environments. Our solution is to allow operators to specify shorter sequences of high-level commands, which we call task-level authoring, to create periods of variable robot autonomy. This approach allows inexperienced users to create robot behaviors in uncertain environments by interleaving exploration, specification of behaviors, and execution as separate steps. End users are able to break down the specification of tasks and adapt to the current needs of the interaction and environments, combining the reactivity of direct control to asynchronous operation. In this paper, we describe a prototype system contextualized in light manufacturing and its empirical validation in a user study where 18 participants with some programming experience were able to perform a variety of complex telemanipulation tasks with little training. Our results show that our approach allowed users to create flexible periods of autonomy and solve rich manipulation tasks. Furthermore, participants significantly preferred our system over comparative more direct interfaces, demonstrating the potential of our approach for enabling end users to effectively perform remote robot programming.

scholarly journals Measurement of Intraoperative Blood Loss in Minimally Invasive Neurosurgery

2021 ◽  
Author(s):  
Sindhuja Krishnamoorthy ◽  
Branesh Madhavan Pillai ◽  
Bibhu Sharma ◽  
Sorayouth Chumnanvej
Keyword(s):  
Blood Loss ◽  
Minimally Invasive ◽  
Pituitary Tumors ◽  
Medical Practitioner ◽  
Measurement Methods ◽  
Computer Interface ◽  
Management Technique ◽  
Intraoperative Blood Loss ◽  
Minimally Invasive Neurosurgery ◽  
Endoscopic Endonasal

Surgeries that take place in medicine and dentistry or during any form of childbirth results in a significant amount of blood loss. The prevalent measurement methods that surgeons and anesthesiologists utilize as the “gold - standard” has several drawbacks. There are numerous other methods to measure blood loss, which, however, due to their impracticality and limitations, are not ideal either. This paper focuses on minimally invasive neurosurgery in particular, by taking into account a surgical technique known as Endoscopic Endonasal Transphenoidal surgery (EETS), which is used to treat pituitary tumors and adenomas. Along with the review of the existing literature pertaining to blood loss management, this paper proposes a modified electrode probe method along with the concept of usage, computer interface, and the system of integration. The probe is intended to measure the hematocrit count from the collected blood under all circumstances, such that the medical practitioner is assisted to improve the blood loss management technique for better patient recovery.

From the history of the development of electronic dictionaries: foreign and domestic experience

2020 ◽  
Vol 11 (1) ◽  
pp. 6-12
Author(s):  
O. Y. Balalaieva ◽  
Keyword(s):  
Human Activity ◽  
Current Level ◽  
Ease Of Use ◽  
Advanced Search ◽  
Wide Range ◽  
Promising Area ◽  
History Of ◽  
Machine Readable ◽  
Everyday Communication ◽  
Educational Professional

The purpose of the article is to study the dynamics of electronic dictionaries development abroad and in Ukraine using methods of analysis of scientific sources, comparison, generalization and systematization. Electronic dictionaries have been found to be a relatively new phenomenon in the lexicographic market, evolving from machine-readable dictionaries, exact copies of paper editions to complex digital lexicographic systems with a powerful arsenal of functions over the decades. The stages of development of autonomous and online dictionaries are described. Electronic dictionaries due to the advanced search capabilities, speed, simplicity, ease of use, accessibility and compactness have gained popularity among a wide range of users. Today they are used in many spheres of human activity – scientific, educational, professional, everyday communication. However, the analysis of the current level of development of Ukrainian electronic resources indicates a shortage of electronic dictionaries both common and terminological vocabulary. The lack of electronic dictionaries is due to a number of objective problems, both practical and theoretical, that is why research in the field of domestic computer lexicography is a promising area of further research.

scholarly journals Comparative evaluation of WIMP and immersive natural finger interaction: a user study on CAD assembly modeling

2021 ◽  
Author(s):  
Marius Fechter ◽  
Benjamin Schleich ◽  
Sandro Wartzack
Keyword(s):  
User Interfaces ◽  
User Study ◽  
Spatial Location ◽  
Ease Of Use ◽  
Natural Interaction ◽  
Assembly Modeling ◽  
3D Space ◽  
Computer Mouse ◽  
Study Results ◽  
Assembly Procedure

AbstractVirtual and augmented reality allows the utilization of natural user interfaces, such as realistic finger interaction, even for purposes that were previously dominated by the WIMP paradigm. This new form of interaction is particularly suitable for applications involving manipulation tasks in 3D space, such as CAD assembly modeling. The objective of this paper is to evaluate the suitability of natural interaction for CAD assembly modeling in virtual reality. An advantage of the natural interaction compared to the conventional operation by computer mouse would indicate development potential for user interfaces of current CAD applications. Our approach bases on two main elements. Firstly, a novel natural user interface for realistic finger interaction enables the user to interact with virtual objects similar to physical ones. Secondly, an algorithm automatically detects constraints between CAD components based solely on their geometry and spatial location. In order to prove the usability of the natural CAD assembly modeling approach in comparison with the assembly procedure in current WIMP operated CAD software, we present a comparative user study. Results show that the VR method including natural finger interaction significantly outperforms the desktop-based CAD application in terms of efficiency and ease of use.

scholarly journals Personalized Augmented Reality Based Tourism System: Big Data and User Demographic Contexts

2021 ◽  
Vol 11 (13) ◽  
pp. 6047
Author(s):  
Soheil Rezaee ◽  
Abolghasem Sadeghi-Niaraki ◽  
Maryam Shakeri ◽  
Soo-Mi Choi
Keyword(s):  
Big Data ◽  
Augmented Reality ◽  
User Study ◽  
Spatial Information ◽  
Ease Of Use ◽  
Tourist Attraction ◽  
Gender And Education ◽  
Time Distance ◽  
Data Source ◽  
The Right

A lack of required data resources is one of the challenges of accepting the Augmented Reality (AR) to provide the right services to the users, whereas the amount of spatial information produced by people is increasing daily. This research aims to design a personalized AR that is based on a tourist system that retrieves the big data according to the users’ demographic contexts in order to enrich the AR data source in tourism. This research is conducted in two main steps. First, the type of the tourist attraction where the users interest is predicted according to the user demographic contexts, which include age, gender, and education level, by using a machine learning method. Second, the correct data for the user are extracted from the big data by considering time, distance, popularity, and the neighborhood of the tourist places, by using the VIKOR and SWAR decision making methods. By about 6%, the results show better performance of the decision tree by predicting the type of tourist attraction, when compared to the SVM method. In addition, the results of the user study of the system show the overall satisfaction of the participants in terms of the ease-of-use, which is about 55%, and in terms of the systems usefulness, about 56%.

scholarly journals Ethics of Corporeal, Co-present Robots as Agents of Influence: a Review

2021 ◽  
Author(s):  
AJung Moon ◽  
Shalaleh Rismani ◽  
H. F. Machiel Van der Loos
Keyword(s):  
Artificial Intelligence ◽  
Physical Environment ◽  
Ethical Issues ◽  
Human Robot Interaction ◽  
Physical Interaction ◽  
Ethical Challenges ◽  
Natural Tendency ◽  
Ai Ethics ◽  
Recent Trends ◽  
The Impact

Abstract Purpose of Review To summarize the set of roboethics issues that uniquely arise due to the corporeality and physical interaction modalities afforded by robots, irrespective of the degree of artificial intelligence present in the system. Recent Findings One of the recent trends in the discussion of ethics of emerging technologies has been the treatment of roboethics issues as those of “embodied AI,” a subset of AI ethics. In contrast to AI, however, robots leverage human’s natural tendency to be influenced by our physical environment. Recent work in human-robot interaction highlights the impact a robot’s presence, capacity to touch, and move in our physical environment has on people, and helping to articulate the ethical issues particular to the design of interactive robotic systems. Summary The corporeality of interactive robots poses unique sets of ethical challenges. These issues should be considered in the design irrespective of and in addition to the ethics of artificial intelligence implemented in them.

scholarly journals Should my robot know what's best for me? Human–robot interaction between user experience and ethical design

AI & Society ◽  
2021 ◽  
Author(s):  
Nora Fronemann ◽  
Kathrin Pollmann ◽  
Wulf Loh
Keyword(s):  
User Experience ◽  
Interaction Design ◽  
Real Life ◽  
Well Being ◽  
Design Principles ◽  
Human Robot Interaction ◽  
Ethical Challenges ◽  
Original Design ◽  
Robot Interaction ◽  
Ethical Design

AbstractTo integrate social robots in real-life contexts, it is crucial that they are accepted by the users. Acceptance is not only related to the functionality of the robot but also strongly depends on how the user experiences the interaction. Established design principles from usability and user experience research can be applied to the realm of human–robot interaction, to design robot behavior for the comfort and well-being of the user. Focusing the design on these aspects alone, however, comes with certain ethical challenges, especially regarding the user’s privacy and autonomy. Based on an example scenario of human–robot interaction in elder care, this paper discusses how established design principles can be used in social robotic design. It then juxtaposes these with ethical considerations such as privacy and user autonomy. Combining user experience and ethical perspectives, we propose adjustments to the original design principles and canvass our own design recommendations for a positive and ethically acceptable social human–robot interaction design. In doing so, we show that positive user experience and ethical design may be sometimes at odds, but can be reconciled in many cases, if designers are willing to adjust and amend time-tested design principles.

Designing Soft Reactive Adhesives by Controlling Polymer Chemistry

MRS Bulletin ◽  
2003 ◽  
Vol 28 (6) ◽  
pp. 424-427 ◽  
Author(s):  
Agnès Aymonier ◽  
Eric Papon
Keyword(s):  
Automotive Industry ◽  
Ease Of Use ◽  
Large Strains ◽  
Structural Adhesives ◽  
Wide Range ◽  
Step Growth ◽  
Visible Irradiation ◽  
Step Growth Polymerization ◽  
Uv Visible ◽  
Activation Heat

AbstractSoft reactive adhesives (SRAs) are polymer-based materials (e.g., polyurethanes, polysiloxanes, polydienes) designed to be further vulcanized or slightly cross-linked through external activation (heat, moisture, oxygen, UV–visible irradiation, etc.), either at the time of their application or within a subsequent predefined period. They are used mainly as mastics, or sealing compounds, in a wide range of industrial and commercial fields such as construction, footwear, and the automotive industry. Generally deposited as thick films, SRAs behave as structural adhesives; their low elastic moduli accommodate large strains between the bonded parts without incurring permanent damage. Other outstanding attributes of SRAs are their resistance to solvents, their ability to withstand aggressive environments, and their ease of use. This article discusses examples of SRAs and, more specifically, shows how the cross-linking chemistry, mainly through step-growth polymerization, provides their primary advantages.

Endoscopic Endonasal Approach to the Pterygopalatine Fossa: Anatomic Study

Neurosurgery ◽  
2003 ◽  
Vol 52 (2) ◽  
pp. 374-380 ◽  
Author(s):  
Alessandra Alfieri ◽  
Hae-Dong Jho ◽  
Raffaele Schettino ◽  
Manfred Tschabitscher
Keyword(s):  
Minimally Invasive ◽  
Infratemporal Fossa ◽  
Lateral View ◽  
Pterygopalatine Fossa ◽  
Endoscopic Endonasal Approach ◽  
Endonasal Approach ◽  
Anatomic Study ◽  
Endoscopic Endonasal ◽  
Arteries And Veins ◽  
Anatomic Region

Abstract OBJECTIVE The pterygopalatine fossa is a relatively small anatomic region. Because of its rich vasculonervous contents and its connections with several intracranial and extracranial compartments, it is of particular surgical interest. Because of its deep localization and despite its small size, however, it can require extensive anatomic approaches, especially for invasive cranial base lesions. We performed a cadaveric study through a minimally invasive endoscopic endonasal approach to the pterygopalatine fossa. METHODS We studied 16 pterygopalatine fossae in eight adult cadaveric heads in which the arteries and veins were injected with latex. For visualization, we used rod-lens endoscopes, 4 mm in diameter and 18 cm in length, with 0-, 30-, 45-, and 70-degree lenses. An endonasal middle meatal transpalatine approach, an endonasal middle meatal transantral approach, and an endonasal inferior turbinectomy transantral approach were used. RESULTS The middle meatal transpalatine approach allows for medial exposure of the pterygopalatine fossa contents, the middle meatal transantral approach allows a lateral view, and the inferior turbinectomy transantral approach allows the widest view and room for surgical maneuvering in the medial and lateral compartments of the pterygopalatine fossa and the infratemporal fossa. CONCLUSION Our anatomic study shows that this approach can be considered a valid minimally invasive option to approach pterygopalatine fossa lesions.

scholarly journals A Walking Training System with Customizable Trajectory Designing

2014 ◽  
Vol 5 (1) ◽  
Author(s):  
Shiyang Dong ◽  
Takafumi Matsumaru
Keyword(s):  
Interaction Design ◽  
Detection Method ◽  
Training System ◽  
Human Robot Interaction ◽  
Design Concept ◽  
Experimental Results ◽  
Robot Interaction ◽  
Coordination Training ◽  
Foot Model ◽  
New System

AbstractThis paper shows a novel walking training system for foot-eye coordination. To design customizable trajectories for different users conveniently in walking training, a new system which can track and record the actual walking trajectories by a tutor and can use these trajectories for the walking training by a trainee is developed. We set the four items as its human-robot interaction design concept: feedback, synchronization, ingenuity and adaptability. A foot model is proposed to define the position and direction of a foot. The errors in the detection method used in the system are less than 40 mm in position and 15 deg in direction. On this basis, three parts are structured to achieve the system functions: Trajectory Designer, Trajectory Viewer and Mobile Walking Trainer. According to the experimental results,we have confirmed the systemworks as intended and designed such that the steps recorded in Trajectory Designer could be used successfully as the footmarks projected in Mobile Walking Trainer and foot-eye coordination training would be conducted smoothly.

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