Abstract
In traditional minimally invasive surgery, a camera holding assistant is required to provide a view of the operation site for the surgeon. The surgeon's performance relies on the quality of this video footage, which is sensitive to surgeonassistant communication errors and the assistant's fatigue or inattention. Thus, we propose a novel foot interface to give the surgeon direct control over a robotic camera holder to replace the human camera holding assistant. The foot interface should allow the surgeon to control the camera while their hands are occupied with the primary surgical task. It can control 4 degrees of freedom of the camera's pose at 2 speeds. A preliminary experiment consisting of representative endoscope control tasks was conducted to evaluate and compare the performance of the novel foot interface and a voice interface using Google Cloud Speech. The foot interface performed better than the voice system in average completion time and error rate, with lower cognitive burden. Participants found the foot interface intuitive with a natural mapping between the foot and the robotic arm movements. The command actuation process is simplified and optimized to reduce the physical strain to the same low level as the voice system based on the subjective assessment after each task. Subjective assessment showed that 95% of the participants thought the foot interface provided better control of the camera movement and 90% preferred using the foot interface over the voice interface.
Original language | English |
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Title of host publication | 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob) |
Editors | Conor Walsh |
Place of Publication | Piscataway NJ USA |
Publisher | IEEE, Institute of Electrical and Electronics Engineers |
Pages | 272-279 |
Number of pages | 8 |
ISBN (Electronic) | 9781728159072 |
ISBN (Print) | 9781728159089 |
DOIs | |
Publication status | Published - 2020 |
Event | International Conference on Biomedical Robotics and Biomechatronics 2020 - New York City, United States of America Duration: 29 Nov 2020 → 1 Dec 2020 Conference number: 8th https://ieeexplore-ieee-org.ezproxy.lib.monash.edu.au/xpl/conhome/9219774/proceeding (Proceedings) |
Publication series
Name | Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics |
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Publisher | IEEE, Institute of Electrical and Electronics Engineers |
Volume | 2020-November |
ISSN (Print) | 2155-1774 |
ISSN (Electronic) | 2155-1774 |
Conference
Conference | International Conference on Biomedical Robotics and Biomechatronics 2020 |
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Abbreviated title | BioRob 2020 |
Country/Territory | United States of America |
City | New York City |
Period | 29/11/20 → 1/12/20 |
Internet address |