Foot-controlled endoscope positioner for laparoscopy: development of the master and slave interfaces

Elahe Abdi; Mohamed Bouri; Jeremy Olivier; Hannes Bleuler

doi:10.1109/ICRoM.2016.7886826

Foot-controlled endoscope positioner for laparoscopy: development of the master and slave interfaces

Elahe Abdi, Mohamed Bouri, Jeremy Olivier, Hannes Bleuler

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Research › peer-review

9 Citations (Scopus)

Abstract

In operating rooms, communication errors between the surgeons and assistants may be a source of inefficiency or error. In laparoscopic surgery, the endoscopic camera is an essential device, usually held by a human, and, why not, by a robotic assistant. In this paper, a novel four-DoF isotonic foot interface for controlling an endoscope positioner is proposed, featuring two rotational and two translational DoFs of the foot. To have an intuitive control paradigm with minimum confusion for the user, the foot movements match the positioner movements in direction. The Thales delta robot is chosen as the slave. The robot's design is modified to provide the necessary four DoFs. Initial tests confirm the functionality of the proposed master-slave endoscope positioner system.

Original language	English
Title of host publication	2016 4th RSI International Conference on Robotics and Mechatronics (ICRoM 2016)
Editors	Aghil Yosefi Koma
Place of Publication	Piscataway NJ USA
Publisher	IEEE, Institute of Electrical and Electronics Engineers
Pages	111-115
Number of pages	5
ISBN (Electronic)	9781509032228
ISBN (Print)	9781509032235
DOIs	https://doi.org/10.1109/ICRoM.2016.7886826
Publication status	Published - 24 Mar 2017
Externally published	Yes
Event	RSI International Conference on Robotics and Mechatronics 2016 - University of Tehran, Tehran, Iran Duration: 26 Oct 2016 → 28 Oct 2016 Conference number: 4th

Conference

Conference	RSI International Conference on Robotics and Mechatronics 2016
Abbreviated title	ICRoM 2016
Country/Territory	Iran
City	Tehran
Period	26/10/16 → 28/10/16

Keywords

foot interface
laparoscopic surgery
master-slave system
robot

Access to Document

10.1109/ICRoM.2016.7886826

Cite this

Abdi, E., Bouri, M., Olivier, J., & Bleuler, H. (2017). Foot-controlled endoscope positioner for laparoscopy: development of the master and slave interfaces. In A. Y. Koma (Ed.), 2016 4th RSI International Conference on Robotics and Mechatronics (ICRoM 2016) (pp. 111-115). [7886826] IEEE, Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/ICRoM.2016.7886826

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title = "Foot-controlled endoscope positioner for laparoscopy: development of the master and slave interfaces",

abstract = "In operating rooms, communication errors between the surgeons and assistants may be a source of inefficiency or error. In laparoscopic surgery, the endoscopic camera is an essential device, usually held by a human, and, why not, by a robotic assistant. In this paper, a novel four-DoF isotonic foot interface for controlling an endoscope positioner is proposed, featuring two rotational and two translational DoFs of the foot. To have an intuitive control paradigm with minimum confusion for the user, the foot movements match the positioner movements in direction. The Thales delta robot is chosen as the slave. The robot's design is modified to provide the necessary four DoFs. Initial tests confirm the functionality of the proposed master-slave endoscope positioner system.",

keywords = "foot interface, laparoscopic surgery, master-slave system, robot",

author = "Elahe Abdi and Mohamed Bouri and Jeremy Olivier and Hannes Bleuler",

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doi = "10.1109/ICRoM.2016.7886826",

language = "English",

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publisher = "IEEE, Institute of Electrical and Electronics Engineers",

address = "United States of America",

note = "RSI International Conference on Robotics and Mechatronics 2016, ICRoM 2016 ; Conference date: 26-10-2016 Through 28-10-2016",

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Abdi, E, Bouri, M, Olivier, J & Bleuler, H 2017, Foot-controlled endoscope positioner for laparoscopy: development of the master and slave interfaces. in AY Koma (ed.), 2016 4th RSI International Conference on Robotics and Mechatronics (ICRoM 2016)., 7886826, IEEE, Institute of Electrical and Electronics Engineers, Piscataway NJ USA, pp. 111-115, RSI International Conference on Robotics and Mechatronics 2016, Tehran, Iran, 26/10/16. https://doi.org/10.1109/ICRoM.2016.7886826

Foot-controlled endoscope positioner for laparoscopy: development of the master and slave interfaces. / Abdi, Elahe; Bouri, Mohamed; Olivier, Jeremy et al.
2016 4th RSI International Conference on Robotics and Mechatronics (ICRoM 2016). ed. / Aghil Yosefi Koma. Piscataway NJ USA: IEEE, Institute of Electrical and Electronics Engineers, 2017. p. 111-115 7886826.

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Research › peer-review

TY - GEN

T1 - Foot-controlled endoscope positioner for laparoscopy

T2 - RSI International Conference on Robotics and Mechatronics 2016

AU - Abdi, Elahe

AU - Bouri, Mohamed

AU - Olivier, Jeremy

AU - Bleuler, Hannes

N1 - Conference code: 4th

PY - 2017/3/24

Y1 - 2017/3/24

N2 - In operating rooms, communication errors between the surgeons and assistants may be a source of inefficiency or error. In laparoscopic surgery, the endoscopic camera is an essential device, usually held by a human, and, why not, by a robotic assistant. In this paper, a novel four-DoF isotonic foot interface for controlling an endoscope positioner is proposed, featuring two rotational and two translational DoFs of the foot. To have an intuitive control paradigm with minimum confusion for the user, the foot movements match the positioner movements in direction. The Thales delta robot is chosen as the slave. The robot's design is modified to provide the necessary four DoFs. Initial tests confirm the functionality of the proposed master-slave endoscope positioner system.

AB - In operating rooms, communication errors between the surgeons and assistants may be a source of inefficiency or error. In laparoscopic surgery, the endoscopic camera is an essential device, usually held by a human, and, why not, by a robotic assistant. In this paper, a novel four-DoF isotonic foot interface for controlling an endoscope positioner is proposed, featuring two rotational and two translational DoFs of the foot. To have an intuitive control paradigm with minimum confusion for the user, the foot movements match the positioner movements in direction. The Thales delta robot is chosen as the slave. The robot's design is modified to provide the necessary four DoFs. Initial tests confirm the functionality of the proposed master-slave endoscope positioner system.

KW - foot interface

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KW - master-slave system

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Abdi E, Bouri M, Olivier J, Bleuler H. Foot-controlled endoscope positioner for laparoscopy: development of the master and slave interfaces. In Koma AY, editor, 2016 4th RSI International Conference on Robotics and Mechatronics (ICRoM 2016). Piscataway NJ USA: IEEE, Institute of Electrical and Electronics Engineers. 2017. p. 111-115. 7886826 doi: 10.1109/ICRoM.2016.7886826

Foot-controlled endoscope positioner for laparoscopy: development of the master and slave interfaces

Abstract

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Keywords

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