2022
Huang, Yanpei; Ivanova, Ekaterina; Eden, Jonathan; Burdet, Etienne
Identification of Multiple Limbs Coordination Strategies in a Three-Goal Independent Task Journal Article
In: IEEE Transactions on Medical Robotics and Bionics, vol. 4, no. 2, pp. 348–351, 2022, ISSN: 2576-3202, (Conference Name: IEEE Transactions on Medical Robotics and Bionics).
Abstract | Links | BibTeX | Tags: Analysis of variance, foot control, Measurement, Random sequences, Robot kinematics, Robots, Surgery, Task analysis, teleoperation, three-hand surgery, Tri-manipulation
@article{huang_identification_2022,
title = {Identification of Multiple Limbs Coordination Strategies in a Three-Goal Independent Task},
author = { Yanpei Huang and Ekaterina Ivanova and Jonathan Eden and Etienne Burdet},
doi = {10.1109/TMRB.2021.3124263},
issn = {2576-3202},
year = {2022},
date = {2022-05-01},
journal = {IEEE Transactions on Medical Robotics and Bionics},
volume = {4},
number = {2},
pages = {348–351},
abstract = {Many surgical tasks require three or more tools operating together. A supernumerary robotic arm under the surgeon’s control could enable one surgeon to control three surgical tools simultaneously without assistance, thereby avoiding the common communication errors of the operation room. However, how do humans consider the complexity of controlling more than two arms together? In this paper, the coordination strategy used during three limb independent motion tasks is studied. The level of coordination increased over a two-day pilot study, and the resulting coordination pattern was in general consistent within subjects. Whether the subject used a fixed order of targets or a random sequence was found to reduce the improvement of pattern consistency after practice. The foot-controlled third hand exhibited less consistent patterns.},
note = {Conference Name: IEEE Transactions on Medical Robotics and Bionics},
keywords = {Analysis of variance, foot control, Measurement, Random sequences, Robot kinematics, Robots, Surgery, Task analysis, teleoperation, three-hand surgery, Tri-manipulation},
pubstate = {published},
tppubtype = {article}
}
Many surgical tasks require three or more tools operating together. A supernumerary robotic arm under the surgeon’s control could enable one surgeon to control three surgical tools simultaneously without assistance, thereby avoiding the common communication errors of the operation room. However, how do humans consider the complexity of controlling more than two arms together? In this paper, the coordination strategy used during three limb independent motion tasks is studied. The level of coordination increased over a two-day pilot study, and the resulting coordination pattern was in general consistent within subjects. Whether the subject used a fixed order of targets or a random sequence was found to reduce the improvement of pattern consistency after practice. The foot-controlled third hand exhibited less consistent patterns.
2021
Huang, Yanpei; Lai, Wenjie; Cao, Lin; Burdet, Etienne; Phee, Soo Jay
Design and Evaluation of a Foot-Controlled Robotic System for Endoscopic Surgery Journal Article
In: IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 2469–2476, 2021, ISSN: 2377-3766, (Conference Name: IEEE Robotics and Automation Letters).
Abstract | Links | BibTeX | Tags: Bending, Endoscope manipulation, Endoscopes, Foot, foot control, Instruments, Robot kinematics, robot-assisted surgery, Robots, Surgery, teleoperation
@article{huang_design_2021,
title = {Design and Evaluation of a Foot-Controlled Robotic System for Endoscopic Surgery},
author = { Yanpei Huang and Wenjie Lai and Lin Cao and Etienne Burdet and Soo Jay Phee},
url = {https://ieeexplore.ieee.org/document/9362198/},
doi = {10.1109/LRA.2021.3062009},
issn = {2377-3766},
year = {2021},
date = {2021-04-01},
urldate = {2022-06-02},
journal = {IEEE Robotics and Automation Letters},
volume = {6},
number = {2},
pages = {2469–2476},
abstract = {In traditional endoscopic surgery, the surgeon manipulating the endoscopic instruments is supported by an assistant controlling the endoscope, where their coordination may be affected by communication errors. To address this issue, we introduce a foot interface controlled robotic endoscopic system, enabling the surgeon to simultaneously operate the endoscope and instruments. The system consists of a foot interface using four degrees of freedom (DoFs) foot gestures and a robotic driving system for a commercial flexible endoscope. The proposed robotic system was validated in teleoperation experiments performed by ten subjects, where foot teleoperation was compared with hand teleoperation and direct control of the endoscope with two hands. The participants could successfully teleoperate the endoscope with foot teleoperation and exhibited 40% faster task completion as with direct control. They found both foot and hand teleoperations comfortable and intuitive. Although hand teleoperation enabled the best performance, only foot teleoperation allows simultaneous control of three instruments.},
note = {Conference Name: IEEE Robotics and Automation Letters},
keywords = {Bending, Endoscope manipulation, Endoscopes, Foot, foot control, Instruments, Robot kinematics, robot-assisted surgery, Robots, Surgery, teleoperation},
pubstate = {published},
tppubtype = {article}
}
In traditional endoscopic surgery, the surgeon manipulating the endoscopic instruments is supported by an assistant controlling the endoscope, where their coordination may be affected by communication errors. To address this issue, we introduce a foot interface controlled robotic endoscopic system, enabling the surgeon to simultaneously operate the endoscope and instruments. The system consists of a foot interface using four degrees of freedom (DoFs) foot gestures and a robotic driving system for a commercial flexible endoscope. The proposed robotic system was validated in teleoperation experiments performed by ten subjects, where foot teleoperation was compared with hand teleoperation and direct control of the endoscope with two hands. The participants could successfully teleoperate the endoscope with foot teleoperation and exhibited 40% faster task completion as with direct control. They found both foot and hand teleoperations comfortable and intuitive. Although hand teleoperation enabled the best performance, only foot teleoperation allows simultaneous control of three instruments.