A Subject-Specific Four-Degree-of-Freedom Foot Interface to Control a Surgical Robot

This article introduces a passive four-degree-of-freedom foot interface to control a robotic surgical instrument. This interface is based on a parallel-serial hybrid mechanism with springs and force sensors. In contrast to existing switch-based interfaces that can command a slave robot arm at consta...

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Published inIEEE/ASME transactions on mechatronics Vol. 25; no. 2; pp. 951 - 963
Main Authors Huang, Yanpei, Burdet, Etienne, Cao, Lin, Phan, Phuoc Thien, Tiong, Anthony Meng Huat, Phee, Soo Jay
Format Journal Article
LanguageEnglish
Published New York IEEE 01.04.2020
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Control equipment
Degrees of freedom
Foot
Foot interface
Force
human–machine interaction
Independent component analysis
Interfaces
Kinematics
Laparoscopes
Robot arms
Robot control
Robots
Springs
subject-specific control
Surgery
Surgical instruments
surgical robots
Online AccessGet full text
ISSN1083-4435
1941-014X
DOI10.1109/TMECH.2020.2964295

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Abstract This article introduces a passive four-degree-of-freedom foot interface to control a robotic surgical instrument. This interface is based on a parallel-serial hybrid mechanism with springs and force sensors. In contrast to existing switch-based interfaces that can command a slave robot arm at constant speed in only discrete directions, the novel interface provides an operator with intuitive control in continuous directions and speed with force and position feedback. The output command of the interface was initially derived based on the kinematics and statics of the interface. Since distinct movement patterns among different subjects were observed in a pilot test, a data-driven approach using independent component analysis was developed to convert the foot inputs to the control commands of the user. The capability of this interface in controlling a robotic arm in multiple degrees of freedom was further verified with a teleoperation test.
AbstractList This article introduces a passive four-degree-of-freedom foot interface to control a robotic surgical instrument. This interface is based on a parallel-serial hybrid mechanism with springs and force sensors. In contrast to existing switch-based interfaces that can command a slave robot arm at constant speed in only discrete directions, the novel interface provides an operator with intuitive control in continuous directions and speed with force and position feedback. The output command of the interface was initially derived based on the kinematics and statics of the interface. Since distinct movement patterns among different subjects were observed in a pilot test, a data-driven approach using independent component analysis was developed to convert the foot inputs to the control commands of the user. The capability of this interface in controlling a robotic arm in multiple degrees of freedom was further verified with a teleoperation test.
Author Huang, Yanpei
Phan, Phuoc Thien
Cao, Lin
Phee, Soo Jay
Tiong, Anthony Meng Huat
Burdet, Etienne
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Snippet This article introduces a passive four-degree-of-freedom foot interface to control a robotic surgical instrument. This interface is based on a parallel-serial...
This article introduces a passive four-degree-of-freedom foot interface to control a robotic surgical instrument. This interface is based on a parallel–serial...
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SubjectTerms Control equipment
Degrees of freedom
Foot
Foot interface
Force
human–machine interaction
Independent component analysis
Interfaces
Kinematics
Laparoscopes
Robot arms
Robot control
Robots
Springs
subject-specific control
Surgery
Surgical instruments
surgical robots
Title A Subject-Specific Four-Degree-of-Freedom Foot Interface to Control a Surgical Robot
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