Usability assessment of two different control modes for the master console of a laparoscopic surgical robot

Xiaoli Zhang, Carl A Nelson, Dmitry Oleynikov

Research output: Contribution to journalArticle

1 Citation (Scopus)

Abstract

The objective of this study is to evaluate potential interface control modes for a compact fourdegree- of-freedom (4-DOF) surgical robot. The goal is to improve robot usability by incorporating a sophisticated haptics-capable interface. Two control modes were developed using a commercially available haptic joystick: (1) a virtually point-constrained interface providing an analog for constrained laparoscopic motion (3-DOF rotation and 1-DOF translation), and (2) an unconstrained Cartesian input interface mapping more directly to the surgical tool tip motions. Subjects (n = 5) successfully performed tissue identification and manipulation tasks in an animal model in point-constrained and unconstrained control modes, respectively, with speed roughly equal to that achieved in similar manual procedures, and without a steep learning curve. The robot control was evaluated through bench-top tests and a subsequent qualitative questionnaire (n = 15). The results suggest that the unconstrained control mode was preferred for both camera guidance and tool manipulations.

Original languageEnglish (US)
Pages (from-to)105-123
Number of pages19
JournalJournal of Healthcare Engineering
Volume3
Issue number1
DOIs
StatePublished - Mar 2012

Fingerprint

Learning Curve
Animal Models
Robots
Haptic interfaces
Identification (control systems)
Animals
Cameras
Robotic surgery
Tissue
Surveys and Questionnaires
Identification (Psychology)

Keywords

  • Computer-assisted surgery
  • Human-robot interfaces
  • Minimally invasive surgery (MIS)
  • Surgical robotics

ASJC Scopus subject areas

  • Biotechnology
  • Surgery
  • Biomedical Engineering
  • Health Informatics

Cite this

Usability assessment of two different control modes for the master console of a laparoscopic surgical robot. / Zhang, Xiaoli; Nelson, Carl A; Oleynikov, Dmitry.

In: Journal of Healthcare Engineering, Vol. 3, No. 1, 03.2012, p. 105-123.

Research output: Contribution to journalArticle

@article{7dd31cdbfa6749059e9599aa992de22e,
title = "Usability assessment of two different control modes for the master console of a laparoscopic surgical robot",
abstract = "The objective of this study is to evaluate potential interface control modes for a compact fourdegree- of-freedom (4-DOF) surgical robot. The goal is to improve robot usability by incorporating a sophisticated haptics-capable interface. Two control modes were developed using a commercially available haptic joystick: (1) a virtually point-constrained interface providing an analog for constrained laparoscopic motion (3-DOF rotation and 1-DOF translation), and (2) an unconstrained Cartesian input interface mapping more directly to the surgical tool tip motions. Subjects (n = 5) successfully performed tissue identification and manipulation tasks in an animal model in point-constrained and unconstrained control modes, respectively, with speed roughly equal to that achieved in similar manual procedures, and without a steep learning curve. The robot control was evaluated through bench-top tests and a subsequent qualitative questionnaire (n = 15). The results suggest that the unconstrained control mode was preferred for both camera guidance and tool manipulations.",
keywords = "Computer-assisted surgery, Human-robot interfaces, Minimally invasive surgery (MIS), Surgical robotics",
author = "Xiaoli Zhang and Nelson, {Carl A} and Dmitry Oleynikov",
year = "2012",
month = "3",
doi = "10.1260/2040-2295.3.1.105",
language = "English (US)",
volume = "3",
pages = "105--123",
journal = "Journal of Healthcare Engineering",
issn = "2040-2295",
publisher = "Multi Science Publishing",
number = "1",

}

TY - JOUR

T1 - Usability assessment of two different control modes for the master console of a laparoscopic surgical robot

AU - Zhang, Xiaoli

AU - Nelson, Carl A

AU - Oleynikov, Dmitry

PY - 2012/3

Y1 - 2012/3

N2 - The objective of this study is to evaluate potential interface control modes for a compact fourdegree- of-freedom (4-DOF) surgical robot. The goal is to improve robot usability by incorporating a sophisticated haptics-capable interface. Two control modes were developed using a commercially available haptic joystick: (1) a virtually point-constrained interface providing an analog for constrained laparoscopic motion (3-DOF rotation and 1-DOF translation), and (2) an unconstrained Cartesian input interface mapping more directly to the surgical tool tip motions. Subjects (n = 5) successfully performed tissue identification and manipulation tasks in an animal model in point-constrained and unconstrained control modes, respectively, with speed roughly equal to that achieved in similar manual procedures, and without a steep learning curve. The robot control was evaluated through bench-top tests and a subsequent qualitative questionnaire (n = 15). The results suggest that the unconstrained control mode was preferred for both camera guidance and tool manipulations.

AB - The objective of this study is to evaluate potential interface control modes for a compact fourdegree- of-freedom (4-DOF) surgical robot. The goal is to improve robot usability by incorporating a sophisticated haptics-capable interface. Two control modes were developed using a commercially available haptic joystick: (1) a virtually point-constrained interface providing an analog for constrained laparoscopic motion (3-DOF rotation and 1-DOF translation), and (2) an unconstrained Cartesian input interface mapping more directly to the surgical tool tip motions. Subjects (n = 5) successfully performed tissue identification and manipulation tasks in an animal model in point-constrained and unconstrained control modes, respectively, with speed roughly equal to that achieved in similar manual procedures, and without a steep learning curve. The robot control was evaluated through bench-top tests and a subsequent qualitative questionnaire (n = 15). The results suggest that the unconstrained control mode was preferred for both camera guidance and tool manipulations.

KW - Computer-assisted surgery

KW - Human-robot interfaces

KW - Minimally invasive surgery (MIS)

KW - Surgical robotics

UR - http://www.scopus.com/inward/record.url?scp=84864040660&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84864040660&partnerID=8YFLogxK

U2 - 10.1260/2040-2295.3.1.105

DO - 10.1260/2040-2295.3.1.105

M3 - Article

AN - SCOPUS:84864040660

VL - 3

SP - 105

EP - 123

JO - Journal of Healthcare Engineering

JF - Journal of Healthcare Engineering

SN - 2040-2295

IS - 1

ER -