NDLI: Evaluating control modes for constrained robotic surgery

Content Provider	IEEE Xplore Digital Library
Author	Lai, F. Howe, R.D.
Copyright Year	2000
Description	Author affiliation: Div. of Eng. & Appl. Sci., Harvard Univ., Cambridge, MA, USA (Lai, F.)
Abstract	Minimally invasive surgery (MIS) constrains instrument motions to 4 DOF by precluding lateral motion at the incision. Robotic MIS systems can interpose arbitrary mappings between the surgeon's motions at the master controller and the motions of instrument tips within the patient's body. Our goal was to find the interface that was easiest to learn. We investigated the effects of different coordinate frame mappings (screen-mapped versus instrument-mapped) and master dexterities (6 DOF versus 4 DOF) by means of performance measures on simple surgical tasks. All four mode-dexterity combinations had approximately the same time-to-completion. The combination of instrument-based mapping and 4 DOF master had lower error rate and lower subjective workload. This mode most clearly reproduces the task constraints within the patient's body.
Starting Page	603
Ending Page	609
File Size	639327
Page Count	7
File Format	PDF
ISBN	0780358864
ISSN	10504729
DOI	10.1109/ROBOT.2000.844119
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2000-04-24
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Minimally invasive surgery Surgical instruments Surges Motion control Robot kinematics Shafts Master-slave Wrist Control systems Coordinate measuring machines
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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