Effect of backlash hysteresis of surgical tool bending joints on task performance in teleoperated flexible endoscopic robot
Background The tendon‐sheath mechanism provides flexibility but degrades the task performance of the flexible endoscopic robot because of the inherent backlash hysteresis problem. Previous studies have only focused on reducing backlash hysteresis. The goal of this study is to identify the backlash h...
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| Veröffentlicht in: | The international journal of medical robotics + computer assisted surgery 2020-02, Vol.16 (1), p.e2047-n/a |
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| container_title | The international journal of medical robotics + computer assisted surgery |
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| creator | Kim, Hansoul Hwang, Minho Kim, Joonhwan You, Jae Min Lim, Chan‐Soon Kwon, Dong‐Soo |
| description | Background
The tendon‐sheath mechanism provides flexibility but degrades the task performance of the flexible endoscopic robot because of the inherent backlash hysteresis problem. Previous studies have only focused on reducing backlash hysteresis. The goal of this study is to identify the backlash hysteresis criteria of surgical tool bending joints to maintain efficient surgical performance.
Methods
A test platform for a surgical tool has been developed that has initial backlash hysteresis under 5° and can adjust the backlash hysteresis intentionally. Performance variation has been investigated in three bench‐top endoscopic tasks in which various backlash hysteresis conditions were intentionally adjusted.
Results
A clear drop‐off in task performance has been observed when the backlash hysteresis of the bending joints was greater than 10° regardless of the type of task and link length.
Conclusions
The backlash hysteresis of surgical tool bending joints should be reduced to at least 10° to maintain efficient performance in robotic endoscopic surgery. |
| doi_str_mv | 10.1002/rcs.2047 |
| format | Article |
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The tendon‐sheath mechanism provides flexibility but degrades the task performance of the flexible endoscopic robot because of the inherent backlash hysteresis problem. Previous studies have only focused on reducing backlash hysteresis. The goal of this study is to identify the backlash hysteresis criteria of surgical tool bending joints to maintain efficient surgical performance.
Methods
A test platform for a surgical tool has been developed that has initial backlash hysteresis under 5° and can adjust the backlash hysteresis intentionally. Performance variation has been investigated in three bench‐top endoscopic tasks in which various backlash hysteresis conditions were intentionally adjusted.
Results
A clear drop‐off in task performance has been observed when the backlash hysteresis of the bending joints was greater than 10° regardless of the type of task and link length.
Conclusions
The backlash hysteresis of surgical tool bending joints should be reduced to at least 10° to maintain efficient performance in robotic endoscopic surgery.</description><identifier>ISSN: 1478-5951</identifier><identifier>EISSN: 1478-596X</identifier><identifier>DOI: 10.1002/rcs.2047</identifier><identifier>PMID: 31675461</identifier><language>eng</language><publisher>England: Wiley Subscription Services, Inc</publisher><subject>Endoscopy ; force control ; human‐machine interfaces ; Hysteresis ; Robotic surgery ; Sheaths ; Surgeons ; Surgical apparatus & instruments ; Surgical instruments ; telesurgery ; Test procedures ; Tool joints</subject><ispartof>The international journal of medical robotics + computer assisted surgery, 2020-02, Vol.16 (1), p.e2047-n/a</ispartof><rights>2019 John Wiley & Sons, Ltd.</rights><rights>2020 John Wiley & Sons, Ltd.</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c3497-779f3102b07079ece4117ee706fcd5ca570ba18a2f2d157073b753c6a21b40b3</citedby><cites>FETCH-LOGICAL-c3497-779f3102b07079ece4117ee706fcd5ca570ba18a2f2d157073b753c6a21b40b3</cites><orcidid>0000-0002-9190-7876 ; 0000-0002-5478-4360 ; 0000-0001-6088-8564 ; 0000-0003-3804-698X ; 0000-0002-3744-6992 ; 0000-0003-4001-6368</orcidid></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktopdf>$$Uhttps://onlinelibrary.wiley.com/doi/pdf/10.1002%2Frcs.2047$$EPDF$$P50$$Gwiley$$H</linktopdf><linktohtml>$$Uhttps://onlinelibrary.wiley.com/doi/full/10.1002%2Frcs.2047$$EHTML$$P50$$Gwiley$$H</linktohtml><link.rule.ids>314,780,784,1417,27924,27925,45574,45575</link.rule.ids><backlink>$$Uhttps://www.ncbi.nlm.nih.gov/pubmed/31675461$$D View this record in MEDLINE/PubMed$$Hfree_for_read</backlink></links><search><creatorcontrib>Kim, Hansoul</creatorcontrib><creatorcontrib>Hwang, Minho</creatorcontrib><creatorcontrib>Kim, Joonhwan</creatorcontrib><creatorcontrib>You, Jae Min</creatorcontrib><creatorcontrib>Lim, Chan‐Soon</creatorcontrib><creatorcontrib>Kwon, Dong‐Soo</creatorcontrib><title>Effect of backlash hysteresis of surgical tool bending joints on task performance in teleoperated flexible endoscopic robot</title><title>The international journal of medical robotics + computer assisted surgery</title><addtitle>Int J Med Robot</addtitle><description>Background
The tendon‐sheath mechanism provides flexibility but degrades the task performance of the flexible endoscopic robot because of the inherent backlash hysteresis problem. Previous studies have only focused on reducing backlash hysteresis. The goal of this study is to identify the backlash hysteresis criteria of surgical tool bending joints to maintain efficient surgical performance.
Methods
A test platform for a surgical tool has been developed that has initial backlash hysteresis under 5° and can adjust the backlash hysteresis intentionally. Performance variation has been investigated in three bench‐top endoscopic tasks in which various backlash hysteresis conditions were intentionally adjusted.
Results
A clear drop‐off in task performance has been observed when the backlash hysteresis of the bending joints was greater than 10° regardless of the type of task and link length.
Conclusions
The backlash hysteresis of surgical tool bending joints should be reduced to at least 10° to maintain efficient performance in robotic endoscopic surgery.</description><subject>Endoscopy</subject><subject>force control</subject><subject>human‐machine interfaces</subject><subject>Hysteresis</subject><subject>Robotic surgery</subject><subject>Sheaths</subject><subject>Surgeons</subject><subject>Surgical apparatus & instruments</subject><subject>Surgical instruments</subject><subject>telesurgery</subject><subject>Test procedures</subject><subject>Tool joints</subject><issn>1478-5951</issn><issn>1478-596X</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2020</creationdate><recordtype>article</recordtype><recordid>eNp1kU1LAzEURYMo1i_wF0jAjZupSSYzaZdS6gcUBO3C3ZBkXmpqOqnJDFr886a2diG4ysvNyeHBReickj4lhF0HHfuMcLGHjigXg6wYli_7u7mgPXQc45wQXvCSH6JeTkuRRnqEvsbGgG6xN1hJ_eZkfMWvq9hCgGjjOo5dmFktHW69d1hBU9tmhufeNm16b3Ar4xteQjA-LGSjAduUgQOfMtlCjY2DT6sc4PTVR-2XVuPglW9P0YGRLsLZ9jxB09vxdHSfTR7vHkY3k0znfCgyIYYmp4QpIogYggZOqQAQpDS6LrQsBFGSDiQzrKbpInIlilyXklHFicpP0NVGuwz-vYPYVgsbNTgnG_BdrFhOaVmUA8YSevkHnfsuNGm5RHGal2RDbYU6-BgDmGoZ7EKGVUVJte6jSn1U6z4SerEVdmoB9Q78LSAB2Qb4sA5W_4qqp9Hzj_Ab8xSVHw</recordid><startdate>202002</startdate><enddate>202002</enddate><creator>Kim, Hansoul</creator><creator>Hwang, Minho</creator><creator>Kim, Joonhwan</creator><creator>You, Jae Min</creator><creator>Lim, Chan‐Soon</creator><creator>Kwon, Dong‐Soo</creator><general>Wiley Subscription Services, Inc</general><scope>NPM</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7SC</scope><scope>7SP</scope><scope>7TB</scope><scope>8FD</scope><scope>F28</scope><scope>FR3</scope><scope>JQ2</scope><scope>K9.</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><scope>7X8</scope><orcidid>https://orcid.org/0000-0002-9190-7876</orcidid><orcidid>https://orcid.org/0000-0002-5478-4360</orcidid><orcidid>https://orcid.org/0000-0001-6088-8564</orcidid><orcidid>https://orcid.org/0000-0003-3804-698X</orcidid><orcidid>https://orcid.org/0000-0002-3744-6992</orcidid><orcidid>https://orcid.org/0000-0003-4001-6368</orcidid></search><sort><creationdate>202002</creationdate><title>Effect of backlash hysteresis of surgical tool bending joints on task performance in teleoperated flexible endoscopic robot</title><author>Kim, Hansoul ; Hwang, Minho ; Kim, Joonhwan ; You, Jae Min ; Lim, Chan‐Soon ; Kwon, Dong‐Soo</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c3497-779f3102b07079ece4117ee706fcd5ca570ba18a2f2d157073b753c6a21b40b3</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2020</creationdate><topic>Endoscopy</topic><topic>force control</topic><topic>human‐machine interfaces</topic><topic>Hysteresis</topic><topic>Robotic surgery</topic><topic>Sheaths</topic><topic>Surgeons</topic><topic>Surgical apparatus & instruments</topic><topic>Surgical instruments</topic><topic>telesurgery</topic><topic>Test procedures</topic><topic>Tool joints</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Kim, Hansoul</creatorcontrib><creatorcontrib>Hwang, Minho</creatorcontrib><creatorcontrib>Kim, Joonhwan</creatorcontrib><creatorcontrib>You, Jae Min</creatorcontrib><creatorcontrib>Lim, Chan‐Soon</creatorcontrib><creatorcontrib>Kwon, Dong‐Soo</creatorcontrib><collection>PubMed</collection><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>ANTE: Abstracts in New Technology & Engineering</collection><collection>Engineering Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>ProQuest Health & Medical Complete (Alumni)</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><collection>MEDLINE - Academic</collection><jtitle>The international journal of medical robotics + computer assisted surgery</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Kim, Hansoul</au><au>Hwang, Minho</au><au>Kim, Joonhwan</au><au>You, Jae Min</au><au>Lim, Chan‐Soon</au><au>Kwon, Dong‐Soo</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Effect of backlash hysteresis of surgical tool bending joints on task performance in teleoperated flexible endoscopic robot</atitle><jtitle>The international journal of medical robotics + computer assisted surgery</jtitle><addtitle>Int J Med Robot</addtitle><date>2020-02</date><risdate>2020</risdate><volume>16</volume><issue>1</issue><spage>e2047</spage><epage>n/a</epage><pages>e2047-n/a</pages><issn>1478-5951</issn><eissn>1478-596X</eissn><abstract>Background
The tendon‐sheath mechanism provides flexibility but degrades the task performance of the flexible endoscopic robot because of the inherent backlash hysteresis problem. Previous studies have only focused on reducing backlash hysteresis. The goal of this study is to identify the backlash hysteresis criteria of surgical tool bending joints to maintain efficient surgical performance.
Methods
A test platform for a surgical tool has been developed that has initial backlash hysteresis under 5° and can adjust the backlash hysteresis intentionally. Performance variation has been investigated in three bench‐top endoscopic tasks in which various backlash hysteresis conditions were intentionally adjusted.
Results
A clear drop‐off in task performance has been observed when the backlash hysteresis of the bending joints was greater than 10° regardless of the type of task and link length.
Conclusions
The backlash hysteresis of surgical tool bending joints should be reduced to at least 10° to maintain efficient performance in robotic endoscopic surgery.</abstract><cop>England</cop><pub>Wiley Subscription Services, Inc</pub><pmid>31675461</pmid><doi>10.1002/rcs.2047</doi><tpages>12</tpages><orcidid>https://orcid.org/0000-0002-9190-7876</orcidid><orcidid>https://orcid.org/0000-0002-5478-4360</orcidid><orcidid>https://orcid.org/0000-0001-6088-8564</orcidid><orcidid>https://orcid.org/0000-0003-3804-698X</orcidid><orcidid>https://orcid.org/0000-0002-3744-6992</orcidid><orcidid>https://orcid.org/0000-0003-4001-6368</orcidid></addata></record> |
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| source | Wiley Blackwell Single Titles |
| subjects | Endoscopy force control human‐machine interfaces Hysteresis Robotic surgery Sheaths Surgeons Surgical apparatus & instruments Surgical instruments telesurgery Test procedures Tool joints |
| title | Effect of backlash hysteresis of surgical tool bending joints on task performance in teleoperated flexible endoscopic robot |
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