| 1. |
- Cho, Jang Ho, et al.
(författare)
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Design of an Intermediate Layer to Enhance Operator Awareness and Safety in Telesurgical Systems
- 2012
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Ingår i: Proc. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2012), October 7-12, 2012. Vilamoura, Algarve, Portugal. - 2153-0858 .- 2153-0866. ; , s. 1292-1297
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Konferensbidrag (refereegranskat)abstract
- This paper presents a novel control architecture for enhanced operator awareness and improved safety in telesurgical systems. We introduce an intermediate layer between the master and slave sides which allows us to modify the slave motion for safety and the force feedback for operator awareness. The intermediate layer is then designed with a performance objective for the specific task at hand. The control scheme is validated via experiments using a suture and an industrial manipulator. More specifically we show that operator awareness should be implemented as an integrated part of the safety level to maintain safety during surgery.
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| 2. |
- Cho, Jang Ho, et al.
(författare)
-
Enhancement of Human Operator's Perceptual Sensitivity for Telesurgical Systems via Polytopic System Approach
- 2012
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Ingår i: 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), 2012. - 9781457711992 ; , s. 75-80
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Konferensbidrag (refereegranskat)abstract
- A suturing including knot tying is one of the more difficult operations to learn in telesurgical systems. Apprentice surgeons commonly suffer from suture breakage or knot failure. The difficulty, generally, comes from the absence of feedback of interaction force cues in a medical device (e.g., a needle and a thread) . Even if there is haptic feedback to the operator, the operator may have a difficulty to detect a specific force such as suture breakage force. To deal with this problem, we propose a control method which can detect a suture breakage force more sensitively by considering human perception characteristics. A performance objective of the control method is designed according to the human perceptual factor, just noticeable difference. By convex optimization of the performance indices, a stabilizing H_inf controller is proposed for the telesurgical system. Finally, the proposed control scheme is validated via a simulation study.
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