Abstract
Currently available foot interfaces to command an external assistive robotic arm for laparoscopic surgery typically consist of a couple of push buttons placed on a planar platform. In this paper, we develop and compare two foot interfaces implementing isotonic vs. elastic isometric control strategies. A four DOF robotic arm is used as the slave robot to evaluate both interfaces and their corresponding control strategies. This robot is controlled by foot's translation/rotation in the isotonic interface and by force/torque in the elastic isometric interface. The isotonic interface is used for position control, and the isometric interface for rate control. An experimental study mimicking a laparoscopic surgery task was conducted to compare the performance with these two systems, in which the slave robot is used as an endoscope holder controlled by the foot in the specific interface. The subjects strongly preferred using the elastic isometric interface, which they found more intuitive and less tiring. The low physical burden of this interface allows the users to concentrate on the main task of manipulation. Also, they preferred the rate control as it provides them with a more accurate control on the slave robot.
| Original language | English |
|---|---|
| Title of host publication | 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018 |
| Publisher | IEEE, Institute of Electrical and Electronics Engineers |
| Pages | 414-420 |
| Number of pages | 7 |
| ISBN (Electronic) | 9781728103761 |
| DOIs | |
| Publication status | Published - 11 Mar 2019 |
| Event | IEEE International Conference on Robotics and Biomimetics 2018 - Kuala Lumpur, Malaysia Duration: 12 Dec 2018 → 15 Dec 2018 http://www.robio2018.org/ |
Publication series
| Name | 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018 |
|---|
Conference
| Conference | IEEE International Conference on Robotics and Biomimetics 2018 |
|---|---|
| Abbreviated title | ROBIO 2018 |
| Country | Malaysia |
| City | Kuala Lumpur |
| Period | 12/12/18 → 15/12/18 |
| Internet address |
Keywords
- Control strategy
- elastic isometric foot interface
- endoscope positioner
- human-machine interaction
- isotonic foot interface
- robotic assistant
- surgical robotics
Cite this
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Development and comparison of foot interfaces for controlling a robotic arm in surgery. / Abdi, Elahe; Bouri, Mohamed; Burdet, Etienne; Bleuler, Hannes.
2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018. IEEE, Institute of Electrical and Electronics Engineers, 2019. p. 414-420 8665333 (2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018).Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Other
TY - GEN
T1 - Development and comparison of foot interfaces for controlling a robotic arm in surgery
AU - Abdi, Elahe
AU - Bouri, Mohamed
AU - Burdet, Etienne
AU - Bleuler, Hannes
PY - 2019/3/11
Y1 - 2019/3/11
N2 - Currently available foot interfaces to command an external assistive robotic arm for laparoscopic surgery typically consist of a couple of push buttons placed on a planar platform. In this paper, we develop and compare two foot interfaces implementing isotonic vs. elastic isometric control strategies. A four DOF robotic arm is used as the slave robot to evaluate both interfaces and their corresponding control strategies. This robot is controlled by foot's translation/rotation in the isotonic interface and by force/torque in the elastic isometric interface. The isotonic interface is used for position control, and the isometric interface for rate control. An experimental study mimicking a laparoscopic surgery task was conducted to compare the performance with these two systems, in which the slave robot is used as an endoscope holder controlled by the foot in the specific interface. The subjects strongly preferred using the elastic isometric interface, which they found more intuitive and less tiring. The low physical burden of this interface allows the users to concentrate on the main task of manipulation. Also, they preferred the rate control as it provides them with a more accurate control on the slave robot.
AB - Currently available foot interfaces to command an external assistive robotic arm for laparoscopic surgery typically consist of a couple of push buttons placed on a planar platform. In this paper, we develop and compare two foot interfaces implementing isotonic vs. elastic isometric control strategies. A four DOF robotic arm is used as the slave robot to evaluate both interfaces and their corresponding control strategies. This robot is controlled by foot's translation/rotation in the isotonic interface and by force/torque in the elastic isometric interface. The isotonic interface is used for position control, and the isometric interface for rate control. An experimental study mimicking a laparoscopic surgery task was conducted to compare the performance with these two systems, in which the slave robot is used as an endoscope holder controlled by the foot in the specific interface. The subjects strongly preferred using the elastic isometric interface, which they found more intuitive and less tiring. The low physical burden of this interface allows the users to concentrate on the main task of manipulation. Also, they preferred the rate control as it provides them with a more accurate control on the slave robot.
KW - Control strategy
KW - elastic isometric foot interface
KW - endoscope positioner
KW - human-machine interaction
KW - isotonic foot interface
KW - robotic assistant
KW - surgical robotics
UR - http://www.scopus.com/inward/record.url?scp=85064112725&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2018.8665333
DO - 10.1109/ROBIO.2018.8665333
M3 - Conference Paper
T3 - 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
SP - 414
EP - 420
BT - 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
PB - IEEE, Institute of Electrical and Electronics Engineers
ER -