Evaluation of Hybrid Control and Palpation Assistance for Situational Awareness in Telemanipulated Task Execution
Abstract
The use of intelligent feedback modalities to control and react to interaction forces during surgical procedures is an important factor in enabling safe and precise surgery. We explore the use of a model-mediated telemanipulation framework to enhance a user’s situational awareness using assistive virtual fixtures and semi-automated task execution for safe and intuitive environment interaction during robotic laparoscopic surgery. The framework allows stiffness mapping with semi-autonomous excitation, hybrid position-force control, and model updates during soft geometry contact. A 24-person study was carried out at 3 sites in simulated ablation and palpation of phantom anatomy. Compared to methods lacking intelligent feedback and guidance, the proposed framework improved task execution metrics (force regulation, completion time, path-following error) and reduced user effort.
BibTeX
@article{Yasin-2020-125788,author = {Rashid Yasin and Preetham Chalasani and Nicolas Zevallos and Mahya Shahbazi and Zhaoshuo Li and Anton Deguet and Peter Kazanzides and Howie Choset and Russell H. Taylor and Nabil Simaan},
title = {Evaluation of Hybrid Control and Palpation Assistance for Situational Awareness in Telemanipulated Task Execution},
journal = {IEEE Transactions on Medical Robotics and Bionics},
year = {2020},
month = {December},
pages = {31 - 43},
}