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Full-Text Articles in Engineering Science and Materials
Usability Assessment Of Two Different Control Modes For The Master Console Of A Laparoscopic Surgical Robot, Xiaoli Zhang, Carl A. Nelson, Dmitry Oleynikov
Usability Assessment Of Two Different Control Modes For The Master Console Of A Laparoscopic Surgical Robot, Xiaoli Zhang, Carl A. Nelson, Dmitry Oleynikov
Department of Mechanical and Materials Engineering: Faculty Publications
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 …
Tool Sequence Trends In Minimally Invasive Surgery: Statistical Analysis And Implications For Predictive Control Of Multifunction Instruments, Carl A. Nelson, Evan Luxon, Dmitry Oleynikov
Tool Sequence Trends In Minimally Invasive Surgery: Statistical Analysis And Implications For Predictive Control Of Multifunction Instruments, Carl A. Nelson, Evan Luxon, Dmitry Oleynikov
Department of Mechanical and Materials Engineering: Faculty Publications
This paper presents an analysis of 67 minimally invasive surgical procedures covering 11 different procedure types to determine patterns of tool use. A new graph-theoretic approach was taken to organize and analyze the data. Through grouping surgeries by type, trends of common tool changes were identified. Using the concept of signal/noise ratio, these trends were found to be statistically strong. The tool-use trends were used to generate tool placement patterns for modular (multi-tool, cartridge-type) surgical tool systems, and the same 67 surgeries were numerically simulated to determine the optimality of these tool arrangements. The results indicate that aggregated tool-use data …