Mixed-Reality-Guided Teleoperation of a Collaborative Robot for Surgical Procedures
Fuente:
arXiv
Enregistré dans:
| Auteurs principaux: | , , , , , , , |
|---|---|
| Format: | Preprint |
| Publié: |
2024
|
| Sujets: | |
| Accès en ligne: | |
| Tags: |
Ajouter un tag
Pas de tags, Soyez le premier à ajouter un tag!
|
| _version_ | 1866911779539386368 |
|---|---|
| author | Rus, Gabriela Hajjar, Nadim Al Tucan, Paul Ciocan, Andra Vaida, Calin Radu, Corina Chablat, Damien Pisla, Doina |
| author_facet | Rus, Gabriela Hajjar, Nadim Al Tucan, Paul Ciocan, Andra Vaida, Calin Radu, Corina Chablat, Damien Pisla, Doina |
| contents | The development of advanced surgical systems embedding the Master-Slave control strategy introduced the possibility of remote interaction between the surgeon and the patient, also known as teleoperation. The present paper aims to integrate innovative technologies into the teleoperation process to enhance workflow during surgeries. The proposed system incorporates a collaborative robot, Kuka IIWA LBR, and Hololens 2 (an augmented reality device), allowing the user to control the robot in an expansive environment that integrates actual (real data) with additional digital information imported via Hololens 2. Experimental data demonstrate the user's ability to control the Kuka IIWA using various gestures to position it with respect to real or digital objects. Thus, this system offers a novel solution to manipulate robots used in surgeries in a more intuitive manner, contributing to the reduction of the learning curve for surgeons. Calibration and testing in multiple scenarios demonstrate the efficiency of the system in providing seamless movements. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2402_12002 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Mixed-Reality-Guided Teleoperation of a Collaborative Robot for Surgical Procedures Rus, Gabriela Hajjar, Nadim Al Tucan, Paul Ciocan, Andra Vaida, Calin Radu, Corina Chablat, Damien Pisla, Doina Robotics The development of advanced surgical systems embedding the Master-Slave control strategy introduced the possibility of remote interaction between the surgeon and the patient, also known as teleoperation. The present paper aims to integrate innovative technologies into the teleoperation process to enhance workflow during surgeries. The proposed system incorporates a collaborative robot, Kuka IIWA LBR, and Hololens 2 (an augmented reality device), allowing the user to control the robot in an expansive environment that integrates actual (real data) with additional digital information imported via Hololens 2. Experimental data demonstrate the user's ability to control the Kuka IIWA using various gestures to position it with respect to real or digital objects. Thus, this system offers a novel solution to manipulate robots used in surgeries in a more intuitive manner, contributing to the reduction of the learning curve for surgeons. Calibration and testing in multiple scenarios demonstrate the efficiency of the system in providing seamless movements. |
| title | Mixed-Reality-Guided Teleoperation of a Collaborative Robot for Surgical Procedures |
| topic | Robotics |
| url | https://arxiv.org/abs/2402.12002 |