The
da Vinci Surgical system (Intuitive Surgical Inc.), a teleoperated
robot-assisted minimally invasive surgery system, has become a popular
approach for many operations. Although it has the benefits of increased
dexterity and enhanced control for the surgeon, one limitation is the
lack of haptic feedback. Haptic virtual fixtures impose
software-generated force constraints that can help guide a user through a
path-specified task and/or prevent the user from entering a designated
forbidden region in the workspace.
In
this work, we studied virtual fixtures that provided moving force
constraints based on motion of the environment (e.g., organ movement due
to heartbeat or respiration). Two different designs of moving
forbidden-region virtual fixtures were considered. A human subject study was conducted to determine the effectiveness of moving virtual fixtures during interaction with an object
in motion using teleoperated Phantom Premiums (SensAble Technologies,
Inc.). The moving virtual fixtures showed benefits of improved user
precision and decreased force applied. |
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Moving virtual fixture experiment
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T. L. Gibo, L. Verner, D. Yuh,
and A. M. Okamura.
Design considerations and human-machine performance
of moving virtual fixtures.
Proc. of IEEE International Conference on
Robotics and Automation (ICRA), pp. 671-676, 2009. |
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