Document Detail

Effect of force feedback from each DOF on the motion accuracy of a surgical tool in performing a robot-assisted tracing task.
MedLine Citation:
PMID:  21095684     Owner:  NLM     Status:  MEDLINE    
In robot-assisted surgery, it may be important to provide force feedback to the hand of the surgeon. Here we examine how force feedback from each degree of freedom (DOF) on a hand controller affects the motion accuracy of a surgical tool. We studied the motion accuracy of a needle-shaped tool in performing a robot-assisted tracing task. On a virtual simulation of the tool and neuroArm robot, human participants manipulated a hand controller to move the tool attached to the end-effector of the robot. They used the tool to trace a line on pipes (mimicking blood vessels) along 3 orthogonal directions, corresponding to 3 DOF on the hand controller. We observed that force feedback from each DOF on the hand controller had a significant effect on the motion accuracy of the tool during tracing. Varying force conditions yielded insignificant difference in motion accuracy. These results indicate a need of revising the hand controller for achieving improved motion accuracy in performing robot-assisted tasks.
Manar D Samad; Yaoping Hu; Garnette R Sutherland
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Publication Detail:
Type:  Journal Article; Research Support, Non-U.S. Gov't    
Journal Detail:
Title:  Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference     Volume:  2010     ISSN:  1557-170X     ISO Abbreviation:  Conf Proc IEEE Eng Med Biol Soc     Publication Date:  2010  
Date Detail:
Created Date:  2010-11-24     Completed Date:  2011-03-29     Revised Date:  2014-08-21    
Medline Journal Info:
Nlm Unique ID:  101243413     Medline TA:  Conf Proc IEEE Eng Med Biol Soc     Country:  United States    
Other Details:
Languages:  eng     Pagination:  2093-6     Citation Subset:  IM    
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MeSH Terms
Equipment Design
Reproducibility of Results
Robotics / instrumentation*,  methods
Surgery, Computer-Assisted / instrumentation*,  methods
User-Computer Interface
Vision, Ocular

From MEDLINE®/PubMed®, a database of the U.S. National Library of Medicine

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