Development and comparison of foot interfaces for controlling a robotic arm in surgery

Elahe Abdi; Mohamed Bouri; Etienne Burdet; Hannes Bleuler

doi:10.1109/ROBIO.2018.8665333

Development and comparison of foot interfaces for controlling a robotic arm in surgery

Elahe Abdi, Mohamed Bouri, Etienne Burdet, Hannes Bleuler

Mechanical & Aerospace Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Other

5 Citations (Scopus)

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	https://doi.org/10.1109/ROBIO.2018.8665333
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/ https://ieeexplore.ieee.org/xpl/conhome/8653250/proceeding (Proceedings)

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/Territory	Malaysia
City	Kuala Lumpur
Period	12/12/18 → 15/12/18
Internet address	http://www.robio2018.org/ https://ieeexplore.ieee.org/xpl/conhome/8653250/proceeding (Proceedings)

Keywords

Control strategy
elastic isometric foot interface
endoscope positioner
human-machine interaction
isotonic foot interface
robotic assistant
surgical robotics

Access to Document

10.1109/ROBIO.2018.8665333

Cite this

Abdi, E., Bouri, M., Burdet, E., & Bleuler, H. (2019). Development and comparison of foot interfaces for controlling a robotic arm in surgery. In 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018 (pp. 414-420). [8665333] (2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018). IEEE, Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/ROBIO.2018.8665333

Abdi, Elahe ; Bouri, Mohamed ; Burdet, Etienne ; Bleuler, Hannes. / Development and comparison of foot interfaces for controlling a robotic arm in surgery. 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018. IEEE, Institute of Electrical and Electronics Engineers, 2019. pp. 414-420 (2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018).

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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.",

keywords = "Control strategy, elastic isometric foot interface, endoscope positioner, human-machine interaction, isotonic foot interface, robotic assistant, surgical robotics",

author = "Elahe Abdi and Mohamed Bouri and Etienne Burdet and Hannes Bleuler",

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Abdi, E, Bouri, M, Burdet, E & Bleuler, H 2019, Development and comparison of foot interfaces for controlling a robotic arm in surgery. in 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018., 8665333, 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018, IEEE, Institute of Electrical and Electronics Engineers, pp. 414-420, IEEE International Conference on Robotics and Biomimetics 2018, Kuala Lumpur, Malaysia, 12/12/18. https://doi.org/10.1109/ROBIO.2018.8665333

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

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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.

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Abdi E, Bouri M, Burdet E, Bleuler H. Development and comparison of foot interfaces for controlling a robotic arm in surgery. In 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). https://doi.org/10.1109/ROBIO.2018.8665333

Development and comparison of foot interfaces for controlling a robotic arm in surgery

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Keywords

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