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 proceedingConference PaperResearchpeer-review

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 languageEnglish
Title of host publication2016 4th RSI International Conference on Robotics and Mechatronics (ICRoM 2016)
EditorsAghil Yosefi Koma
Place of PublicationPiscataway, NJ USA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages111-115
Number of pages5
ISBN (Electronic)9781509032228
ISBN (Print)9781509032235
DOIs
Publication statusPublished - 24 Mar 2017
Externally publishedYes
Event4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016 - Tehran, Iran
Duration: 26 Oct 201628 Oct 2016

Conference

Conference4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016
CountryIran
CityTehran
Period26/10/1628/10/16

Keywords

  • foot interface
  • laparoscopic surgery
  • master-slave system
  • robot

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] Piscataway, NJ USA: IEEE, Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/ICRoM.2016.7886826
Abdi, Elahe ; Bouri, Mohamed ; Olivier, Jeremy ; Bleuler, Hannes. / Foot-controlled endoscope positioner for laparoscopy : Development of the master and slave interfaces. 2016 4th RSI International Conference on Robotics and Mechatronics (ICRoM 2016). editor / Aghil Yosefi Koma. Piscataway, NJ USA : IEEE, Institute of Electrical and Electronics Engineers, 2017. pp. 111-115
@inproceedings{308b462c43ce4d57a097036b9dc98000,
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",
year = "2017",
month = "3",
day = "24",
doi = "10.1109/ICRoM.2016.7886826",
language = "English",
isbn = "9781509032235",
pages = "111--115",
editor = "Koma, {Aghil Yosefi}",
booktitle = "2016 4th RSI International Conference on Robotics and Mechatronics (ICRoM 2016)",
publisher = "IEEE, Institute of Electrical and Electronics Engineers",
address = "United States of America",

}

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, 4th RSI International Conference on Robotics and Mechatronics, ICRoM 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; Bleuler, Hannes.

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 proceedingConference PaperResearchpeer-review

TY - GEN

T1 - Foot-controlled endoscope positioner for laparoscopy

T2 - Development of the master and slave interfaces

AU - Abdi, Elahe

AU - Bouri, Mohamed

AU - Olivier, Jeremy

AU - Bleuler, Hannes

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

KW - laparoscopic surgery

KW - master-slave system

KW - robot

UR - http://www.scopus.com/inward/record.url?scp=85017502530&partnerID=8YFLogxK

U2 - 10.1109/ICRoM.2016.7886826

DO - 10.1109/ICRoM.2016.7886826

M3 - Conference Paper

SN - 9781509032235

SP - 111

EP - 115

BT - 2016 4th RSI International Conference on Robotics and Mechatronics (ICRoM 2016)

A2 - Koma, Aghil Yosefi

PB - IEEE, Institute of Electrical and Electronics Engineers

CY - Piscataway, NJ USA

ER -

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 https://doi.org/10.1109/ICRoM.2016.7886826