Title :
Handheld micromanipulation with vision-based virtual fixtures
Author :
Becker, Brian C. ; MacLachlan, Robert A. ; Hager, Gregory D. ; Riviere, Cameron N.
Author_Institution :
Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
Abstract :
Precise movement during micromanipulation becomes difficult in submillimeter workspaces, largely due to the destabilizing influence of tremor. Robotic aid combined with filtering techniques that suppress tremor frequency bands increases performance; however, if knowledge of the operator´s goals is available, virtual fixtures have been shown to greatly improve micromanipulator precision. In this paper, we derive a control law for position-based virtual fixtures within the framework of an active handheld micromanipulator, where the fixtures are generated in real-time from microscope video. Additionally, we develop motion scaling behavior centered on virtual fixtures as a simple and direct extension to our formulation. We demonstrate that hard and soft (motion scaled) virtual fixtures outperform state-of-the-art tremor cancellation performance on a set of artificial but medically relevant tasks: holding, move-and-hold, curve tracing, and volume restriction.
Keywords :
micromanipulators; motion control; position control; robot vision; vibration control; active handheld micromanipulator; filtering technique; handheld micromanipulation; microscope video; motion scaling behavior; position-based virtual fixture; robotic aid; submillimeter workspace; tremor frequency band suppression; vision-based virtual fixture; Cameras; Fixtures; Instruments; Micromanipulators; Rubber; Three dimensional displays;
Conference_Titel :
Robotics and Automation (ICRA), 2011 IEEE International Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-61284-386-5
DOI :
10.1109/ICRA.2011.5980345