Mobile Teleoperation: Feasibility of Wireless Wearable Sensing of the Operator's Arm Motion

Teleoperation platforms often require the user to be situated at a fixed location to both visualize and control the movement of the robot and thus do not provide the operator with much mobility. One example is in existing robotic surgery solutions that require the surgeons to be away from the patien...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Veröffentlicht in:arXiv.org 2022-01
Hauptverfasser: Fu, Guanhao, Azimi, Ehsan, Kazanzides, Peter
Format: Artikel
Sprache:eng
Schlagworte:
Online-Zugang:Volltext
Tags: Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
container_end_page
container_issue
container_start_page
container_title arXiv.org
container_volume
creator Fu, Guanhao
Azimi, Ehsan
Kazanzides, Peter
description Teleoperation platforms often require the user to be situated at a fixed location to both visualize and control the movement of the robot and thus do not provide the operator with much mobility. One example is in existing robotic surgery solutions that require the surgeons to be away from the patient, attached to consoles where their heads must be fixed and their arms can only move in a limited space. This creates a barrier between physicians and patients that does not exist in normal surgery. To address this issue, we propose a mobile telesurgery solution where the surgeons are no longer mechanically limited to control consoles and are able to teleoperate the robots from the patient bedside, using their arms equipped with wireless sensors and viewing the endoscope video via optical see-through head-mounted displays (HMDs). We evaluate the feasibility and efficiency of our user interaction method compared to a standard surgical robotic manipulator via two tasks with different levels of required dexterity. The results indicate that with sufficient training our proposed platform can attain similar efficiency while providing added mobility for the operator.
doi_str_mv 10.48550/arxiv.2103.08119
format Article
fullrecord <record><control><sourceid>proquest_arxiv</sourceid><recordid>TN_cdi_arxiv_primary_2103_08119</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><sourcerecordid>2501664651</sourcerecordid><originalsourceid>FETCH-LOGICAL-a521-187d416648315f2eb99b04631f94d4c1a8e6ad85e1cc55ba3ad943e6183602363</originalsourceid><addsrcrecordid>eNotkE9PwkAQxTcmJhLkA3hyEw-eijv7j603QgRNIBwk4eCh2dKpLild3C1Gvr1t8TSH35s38x4hd8DG0ijFnmz4dT9jDkyMmQFIr8iACwGJkZzfkFGMe8YY1xOulBiQj5XPXYV0gxX6IwbbOF8_0zna6FrgmjP1Jd260PIY6RZtsHmrf8c6uvqzg80X0nW_6sNjpNNwoCvf2dyS69JWEUf_c0g285fN7DVZrhdvs-kysYpDAmZSSNBaGgGq5Jinac6kFlCmspA7sAa1LYxC2O2Uyq2wRSoFajBCMy60GJL7i22fPDsGd7DhnHUNZH0DreLhojgG_33C2GR7fwp1-1PGFetuawXiD1_8XWI</addsrcrecordid><sourcetype>Open Access Repository</sourcetype><iscdi>true</iscdi><recordtype>article</recordtype><pqid>2501664651</pqid></control><display><type>article</type><title>Mobile Teleoperation: Feasibility of Wireless Wearable Sensing of the Operator's Arm Motion</title><source>arXiv.org</source><source>Freely Accessible Journals at publisher websites</source><creator>Fu, Guanhao ; Azimi, Ehsan ; Kazanzides, Peter</creator><creatorcontrib>Fu, Guanhao ; Azimi, Ehsan ; Kazanzides, Peter</creatorcontrib><description>Teleoperation platforms often require the user to be situated at a fixed location to both visualize and control the movement of the robot and thus do not provide the operator with much mobility. One example is in existing robotic surgery solutions that require the surgeons to be away from the patient, attached to consoles where their heads must be fixed and their arms can only move in a limited space. This creates a barrier between physicians and patients that does not exist in normal surgery. To address this issue, we propose a mobile telesurgery solution where the surgeons are no longer mechanically limited to control consoles and are able to teleoperate the robots from the patient bedside, using their arms equipped with wireless sensors and viewing the endoscope video via optical see-through head-mounted displays (HMDs). We evaluate the feasibility and efficiency of our user interaction method compared to a standard surgical robotic manipulator via two tasks with different levels of required dexterity. The results indicate that with sufficient training our proposed platform can attain similar efficiency while providing added mobility for the operator.</description><identifier>EISSN: 2331-8422</identifier><identifier>DOI: 10.48550/arxiv.2103.08119</identifier><language>eng</language><publisher>Ithaca: Cornell University Library, arXiv.org</publisher><subject>Computer Science - Human-Computer Interaction ; Computer Science - Robotics ; Consoles ; Endoscopes ; Physicians ; Robot arms ; Robotic surgery ; Stability ; Surgeons ; Telesurgery</subject><ispartof>arXiv.org, 2022-01</ispartof><rights>2022. This work is published under http://arxiv.org/licenses/nonexclusive-distrib/1.0/ (the “License”). Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License.</rights><rights>http://arxiv.org/licenses/nonexclusive-distrib/1.0</rights><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><link.rule.ids>228,230,780,784,885,27925</link.rule.ids><backlink>$$Uhttps://doi.org/10.1109/IROS51168.2021.9636838$$DView published paper (Access to full text may be restricted)$$Hfree_for_read</backlink><backlink>$$Uhttps://doi.org/10.48550/arXiv.2103.08119$$DView paper in arXiv$$Hfree_for_read</backlink></links><search><creatorcontrib>Fu, Guanhao</creatorcontrib><creatorcontrib>Azimi, Ehsan</creatorcontrib><creatorcontrib>Kazanzides, Peter</creatorcontrib><title>Mobile Teleoperation: Feasibility of Wireless Wearable Sensing of the Operator's Arm Motion</title><title>arXiv.org</title><description>Teleoperation platforms often require the user to be situated at a fixed location to both visualize and control the movement of the robot and thus do not provide the operator with much mobility. One example is in existing robotic surgery solutions that require the surgeons to be away from the patient, attached to consoles where their heads must be fixed and their arms can only move in a limited space. This creates a barrier between physicians and patients that does not exist in normal surgery. To address this issue, we propose a mobile telesurgery solution where the surgeons are no longer mechanically limited to control consoles and are able to teleoperate the robots from the patient bedside, using their arms equipped with wireless sensors and viewing the endoscope video via optical see-through head-mounted displays (HMDs). We evaluate the feasibility and efficiency of our user interaction method compared to a standard surgical robotic manipulator via two tasks with different levels of required dexterity. The results indicate that with sufficient training our proposed platform can attain similar efficiency while providing added mobility for the operator.</description><subject>Computer Science - Human-Computer Interaction</subject><subject>Computer Science - Robotics</subject><subject>Consoles</subject><subject>Endoscopes</subject><subject>Physicians</subject><subject>Robot arms</subject><subject>Robotic surgery</subject><subject>Stability</subject><subject>Surgeons</subject><subject>Telesurgery</subject><issn>2331-8422</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2022</creationdate><recordtype>article</recordtype><sourceid>ABUWG</sourceid><sourceid>AFKRA</sourceid><sourceid>AZQEC</sourceid><sourceid>BENPR</sourceid><sourceid>CCPQU</sourceid><sourceid>DWQXO</sourceid><sourceid>GOX</sourceid><recordid>eNotkE9PwkAQxTcmJhLkA3hyEw-eijv7j603QgRNIBwk4eCh2dKpLild3C1Gvr1t8TSH35s38x4hd8DG0ijFnmz4dT9jDkyMmQFIr8iACwGJkZzfkFGMe8YY1xOulBiQj5XPXYV0gxX6IwbbOF8_0zna6FrgmjP1Jd260PIY6RZtsHmrf8c6uvqzg80X0nW_6sNjpNNwoCvf2dyS69JWEUf_c0g285fN7DVZrhdvs-kysYpDAmZSSNBaGgGq5Jinac6kFlCmspA7sAa1LYxC2O2Uyq2wRSoFajBCMy60GJL7i22fPDsGd7DhnHUNZH0DreLhojgG_33C2GR7fwp1-1PGFetuawXiD1_8XWI</recordid><startdate>20220111</startdate><enddate>20220111</enddate><creator>Fu, Guanhao</creator><creator>Azimi, Ehsan</creator><creator>Kazanzides, Peter</creator><general>Cornell University Library, arXiv.org</general><scope>8FE</scope><scope>8FG</scope><scope>ABJCF</scope><scope>ABUWG</scope><scope>AFKRA</scope><scope>AZQEC</scope><scope>BENPR</scope><scope>BGLVJ</scope><scope>CCPQU</scope><scope>DWQXO</scope><scope>HCIFZ</scope><scope>L6V</scope><scope>M7S</scope><scope>PIMPY</scope><scope>PQEST</scope><scope>PQQKQ</scope><scope>PQUKI</scope><scope>PRINS</scope><scope>PTHSS</scope><scope>AKY</scope><scope>GOX</scope></search><sort><creationdate>20220111</creationdate><title>Mobile Teleoperation: Feasibility of Wireless Wearable Sensing of the Operator's Arm Motion</title><author>Fu, Guanhao ; Azimi, Ehsan ; Kazanzides, Peter</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-a521-187d416648315f2eb99b04631f94d4c1a8e6ad85e1cc55ba3ad943e6183602363</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2022</creationdate><topic>Computer Science - Human-Computer Interaction</topic><topic>Computer Science - Robotics</topic><topic>Consoles</topic><topic>Endoscopes</topic><topic>Physicians</topic><topic>Robot arms</topic><topic>Robotic surgery</topic><topic>Stability</topic><topic>Surgeons</topic><topic>Telesurgery</topic><toplevel>online_resources</toplevel><creatorcontrib>Fu, Guanhao</creatorcontrib><creatorcontrib>Azimi, Ehsan</creatorcontrib><creatorcontrib>Kazanzides, Peter</creatorcontrib><collection>ProQuest SciTech Collection</collection><collection>ProQuest Technology Collection</collection><collection>Materials Science &amp; Engineering Collection</collection><collection>ProQuest Central (Alumni)</collection><collection>ProQuest Central UK/Ireland</collection><collection>ProQuest Central Essentials</collection><collection>ProQuest Central</collection><collection>Technology Collection</collection><collection>ProQuest One Community College</collection><collection>ProQuest Central Korea</collection><collection>SciTech Premium Collection</collection><collection>ProQuest Engineering Collection</collection><collection>Engineering Database</collection><collection>Publicly Available Content Database</collection><collection>ProQuest One Academic Eastern Edition (DO NOT USE)</collection><collection>ProQuest One Academic</collection><collection>ProQuest One Academic UKI Edition</collection><collection>ProQuest Central China</collection><collection>Engineering collection</collection><collection>arXiv Computer Science</collection><collection>arXiv.org</collection><jtitle>arXiv.org</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Fu, Guanhao</au><au>Azimi, Ehsan</au><au>Kazanzides, Peter</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Mobile Teleoperation: Feasibility of Wireless Wearable Sensing of the Operator's Arm Motion</atitle><jtitle>arXiv.org</jtitle><date>2022-01-11</date><risdate>2022</risdate><eissn>2331-8422</eissn><abstract>Teleoperation platforms often require the user to be situated at a fixed location to both visualize and control the movement of the robot and thus do not provide the operator with much mobility. One example is in existing robotic surgery solutions that require the surgeons to be away from the patient, attached to consoles where their heads must be fixed and their arms can only move in a limited space. This creates a barrier between physicians and patients that does not exist in normal surgery. To address this issue, we propose a mobile telesurgery solution where the surgeons are no longer mechanically limited to control consoles and are able to teleoperate the robots from the patient bedside, using their arms equipped with wireless sensors and viewing the endoscope video via optical see-through head-mounted displays (HMDs). We evaluate the feasibility and efficiency of our user interaction method compared to a standard surgical robotic manipulator via two tasks with different levels of required dexterity. The results indicate that with sufficient training our proposed platform can attain similar efficiency while providing added mobility for the operator.</abstract><cop>Ithaca</cop><pub>Cornell University Library, arXiv.org</pub><doi>10.48550/arxiv.2103.08119</doi><oa>free_for_read</oa></addata></record>
fulltext fulltext
identifier EISSN: 2331-8422
ispartof arXiv.org, 2022-01
issn 2331-8422
language eng
recordid cdi_arxiv_primary_2103_08119
source arXiv.org; Freely Accessible Journals at publisher websites
subjects Computer Science - Human-Computer Interaction
Computer Science - Robotics
Consoles
Endoscopes
Physicians
Robot arms
Robotic surgery
Stability
Surgeons
Telesurgery
title Mobile Teleoperation: Feasibility of Wireless Wearable Sensing of the Operator's Arm Motion
url https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2024-12-25T05%3A35%3A06IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-proquest_arxiv&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.genre=article&rft.atitle=Mobile%20Teleoperation:%20Feasibility%20of%20Wireless%20Wearable%20Sensing%20of%20the%20Operator's%20Arm%20Motion&rft.jtitle=arXiv.org&rft.au=Fu,%20Guanhao&rft.date=2022-01-11&rft.eissn=2331-8422&rft_id=info:doi/10.48550/arxiv.2103.08119&rft_dat=%3Cproquest_arxiv%3E2501664651%3C/proquest_arxiv%3E%3Curl%3E%3C/url%3E&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_pqid=2501664651&rft_id=info:pmid/&rfr_iscdi=true