title: Comparison of control modes of a hand-held robot for laparoscopic surgery.
abstract: Teleoperated robots for minimally invasive surgery make surgeons loose direct contact with the patient. We are developing a handheld, dexterous surgical robot that can be controlled with one hand only, while standing at the operating table. The instrument is composed of a master part (the handle) and a slave part (the tip). This work compares the performance of different control modes, i.e. different ways to map the degrees of freedom of the handle to those of the tip. We ask users to drive the tip along complex trajectories in a virtual environment, using the real master to drive a simulated slave, and assess their performance. Results show that, concerning time, users with no training in laparoscopy prefer a direct mapping of position and orientation, like in free hand motion. However, users trained in laparoscopy perform equally fast with our hand-held robot and, concerning precision, make a smaller number of errors.
authors.affiliation: CRIM Lab, Scuola Superiore Sant'Anna, Pisa, Italy. oly@sssup.it
authors.forename: Oliver
authors.initials: O
authors.lastname: Tonet
authors.forename: Francesco
authors.initials: F
authors.lastname: Focacci
authors.forename: Marco
authors.initials: M
authors.lastname: Piccigallo
authors.forename: Filippo
authors.initials: F
authors.lastname: Cavallo
authors.forename: Miyuki
authors.initials: M
authors.lastname: Uematsu
authors.forename: Giuseppe
authors.initials: G
authors.lastname: Megali
authors.forename: Paolo
authors.initials: P
authors.lastname: Dario
mesh_terms: D006801:Humans; D020706:Laparoscopes; D010535:Laparoscopy / Q000379:methods*; D008904:Miniaturization; D019060:Minimally Invasive Surgical Procedures / Q000295:instrumentation / Q000379:methods*; D012371:Robotics / Q000295:instrumentation / Q000379:methods*; D025321:Surgery, Computer-Assisted / Q000295:instrumentation / Q000379:methods*; D017216:Telemedicine / Q000295:instrumentation / Q000379:methods*; D014584:User-Computer Interface