Design and evaluation of a foot-controlled robotic system for endoscopic surgery
In traditional endoscopic surgery, the surgeon manipulating the endoscopic instruments is supported by an assistant controlling the endoscope, where their coordination may be affected by communication errors. To address this issue, we introduce a foot interface controlled robotic endoscopic system,...
| Main Authors: | , , , , |
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| Other Authors: | |
| Format: | Journal Article |
| Language: | English |
| Published: |
2021
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| Online Access: | https://hdl.handle.net/10356/147770 |
| _version_ | 1826130177542848512 |
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| author | Huang, Yanpei Lai, Wenjie Cao, Lin Burdet, Etienne Phee, Soo Jay |
| author2 | School of Mechanical and Aerospace Engineering |
| author_facet | School of Mechanical and Aerospace Engineering Huang, Yanpei Lai, Wenjie Cao, Lin Burdet, Etienne Phee, Soo Jay |
| author_sort | Huang, Yanpei |
| collection | NTU |
| description | In traditional endoscopic surgery, the surgeon manipulating the endoscopic instruments is supported by an assistant controlling the endoscope, where their coordination may be affected by communication errors. To address this issue, we introduce a foot interface controlled robotic endoscopic system, enabling the surgeon to simultaneously operate the endoscope and instruments. The system consists of a foot interface using four degrees of freedom (DoFs) foot gestures and a robotic driving system for a commercial flexible endoscope. The proposed robotic system was validated in teleoperation experiments performed by ten subjects, where foot teleoperation was compared with hand teleoperation and direct control of the endoscope with two hands. The participants could successfully teleoperate the endoscope with foot teleoperation and exhibited 40% faster task completion as with direct control. They found both foot and hand teleoperations comfortable and intuitive. Although hand teleoperation enabled the best performance, only foot teleoperation allows simultaneous control of three instruments. |
| first_indexed | 2024-10-01T07:52:14Z |
| format | Journal Article |
| id | ntu-10356/147770 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T07:52:14Z |
| publishDate | 2021 |
| record_format | dspace |
| spelling | ntu-10356/1477702023-03-04T17:22:59Z Design and evaluation of a foot-controlled robotic system for endoscopic surgery Huang, Yanpei Lai, Wenjie Cao, Lin Burdet, Etienne Phee, Soo Jay School of Mechanical and Aerospace Engineering Engineering::Computer science and engineering Surgical Robot Foot Control In traditional endoscopic surgery, the surgeon manipulating the endoscopic instruments is supported by an assistant controlling the endoscope, where their coordination may be affected by communication errors. To address this issue, we introduce a foot interface controlled robotic endoscopic system, enabling the surgeon to simultaneously operate the endoscope and instruments. The system consists of a foot interface using four degrees of freedom (DoFs) foot gestures and a robotic driving system for a commercial flexible endoscope. The proposed robotic system was validated in teleoperation experiments performed by ten subjects, where foot teleoperation was compared with hand teleoperation and direct control of the endoscope with two hands. The participants could successfully teleoperate the endoscope with foot teleoperation and exhibited 40% faster task completion as with direct control. They found both foot and hand teleoperations comfortable and intuitive. Although hand teleoperation enabled the best performance, only foot teleoperation allows simultaneous control of three instruments. Accepted version 2021-04-20T03:19:21Z 2021-04-20T03:19:21Z 2020 Journal Article Huang, Y., Lai, W., Cao, L., Burdet, E. & Phee, S. J. (2020). Design and evaluation of a foot-controlled robotic system for endoscopic surgery. IEEE Robotics and Automation Letters, 6(2), 2469-2476. https://dx.doi.org/10.1109/LRA.2021.3062009 2377-3766 https://hdl.handle.net/10356/147770 10.1109/LRA.2021.3062009 2 6 2469 2476 en IEEE Robotics and Automation Letters © 2021 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. The published version is available at: https://doi.org/10.1109/LRA.2021.3062009 application/pdf |
| spellingShingle | Engineering::Computer science and engineering Surgical Robot Foot Control Huang, Yanpei Lai, Wenjie Cao, Lin Burdet, Etienne Phee, Soo Jay Design and evaluation of a foot-controlled robotic system for endoscopic surgery |
| title | Design and evaluation of a foot-controlled robotic system for endoscopic surgery |
| title_full | Design and evaluation of a foot-controlled robotic system for endoscopic surgery |
| title_fullStr | Design and evaluation of a foot-controlled robotic system for endoscopic surgery |
| title_full_unstemmed | Design and evaluation of a foot-controlled robotic system for endoscopic surgery |
| title_short | Design and evaluation of a foot-controlled robotic system for endoscopic surgery |
| title_sort | design and evaluation of a foot controlled robotic system for endoscopic surgery |
| topic | Engineering::Computer science and engineering Surgical Robot Foot Control |
| url | https://hdl.handle.net/10356/147770 |
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