Title :
Evaluating control modes for hand-held robotic surgical instrument using virtual reality simulator
Author :
Zahraee, Ali Hassan ; Szewczyk, Jerome ; Morel, Guillaume
Author_Institution :
Inst. des Syst. Intelligents et de Robot., Univ. Pierre et Marie Curie -, Paris, France
Abstract :
This paper discusses 3 different control modes for a hand-held surgical robot. A virtual reality simulator for evaluating control modes is developed. Different control modes are evaluated and compared in a suturing task. Results show a better control and more precise sutures with a semi-coupled inverse control mode in frontal and sagittal suturing.
Keywords :
medical computing; medical robotics; surgery; virtual reality; control mode evaluation; hand-held robotic surgical instrument; semicoupled inverse control mode; virtual reality simulator; Endoscopes; Intelligent robots; Kinematics; Mechatronics; Medical robotics; Minimally invasive surgery; Shafts; Surges; Surgical instruments; Virtual reality;
Conference_Titel :
Advanced Intelligent Mechatronics, 2009. AIM 2009. IEEE/ASME International Conference on
Conference_Location :
Singapore
Print_ISBN :
978-1-4244-2852-6
DOI :
10.1109/AIM.2009.5229774
