TY - GEN
T1 - Virtual-Fixtures for Robotic-Assisted Bi-manual Cutting using Vector-Field Inequalities
AU - Ishida, Hisashi
AU - Marinho, Murilo M.
AU - Harada, Kanako
AU - Gao, Jian
AU - Mitsuishi, Mamoru
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/1
Y1 - 2020/1
N2 - Master - slave robotic systems have enabled operators to perform complex tasks with high precision. Some tasks can be further enhanced by adding virtual fixtures, which can guide user motion or constrain it within a safety envelope. In this study, the focus is on the generation of virtual fixtures for robotic-assisted bi-manual cutting, with possible applications in medicine and industry. Two control methods are proposed: forbidden-plane constraints (for increased safety) and an angle-ellipsoid constraint (for increased performance) which guide the user to safe and efficient bi-manual cutting. The proposed methods were evaluated in a user experiment using a pathology grossing master-slave robotic system. The results show that the forbidden-plane constraints enhanced the safety of the task, while the angle-ellipsoid constraint reduced cutting error by more than 58% (p<0.05).
AB - Master - slave robotic systems have enabled operators to perform complex tasks with high precision. Some tasks can be further enhanced by adding virtual fixtures, which can guide user motion or constrain it within a safety envelope. In this study, the focus is on the generation of virtual fixtures for robotic-assisted bi-manual cutting, with possible applications in medicine and industry. Two control methods are proposed: forbidden-plane constraints (for increased safety) and an angle-ellipsoid constraint (for increased performance) which guide the user to safe and efficient bi-manual cutting. The proposed methods were evaluated in a user experiment using a pathology grossing master-slave robotic system. The results show that the forbidden-plane constraints enhanced the safety of the task, while the angle-ellipsoid constraint reduced cutting error by more than 58% (p<0.05).
UR - http://www.scopus.com/inward/record.url?scp=85082570895&partnerID=8YFLogxK
U2 - 10.1109/SII46433.2020.9026172
DO - 10.1109/SII46433.2020.9026172
M3 - Conference contribution
AN - SCOPUS:85082570895
T3 - Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020
SP - 395
EP - 400
BT - Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020
PB - IEEE
T2 - 2020 IEEE/SICE International Symposium on System Integration, SII 2020
Y2 - 12 January 2020 through 15 January 2020
ER -