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作者 Golenberg, Lavie P
書名 Hand tracking analysis for telerobotic surgery
國際標準書號 9780542985928
book jacket
說明 57 p
附註 Source: Masters Abstracts International, Volume: 45-02, page: 1044
Adviser: Darin Ellis
Thesis (M.S.)--Wayne State University, 2007
Robotic microsurgery provides many advantages for surgical operations, including tremor filtration, an increase in dexterity, and smaller incisions. A key benefit of robotic microsurgery is the ability to scale one's motions to a ratio where a surgeon's movements are at the highest efficiency. Due to the impracticality of continually changing the motion scale throughout the duration of a surgery, most operations are performed with a static control gain (e.g. a human-to-robot movement ratio of 3.9:1). However, relying on one motion scale throughout a surgery does not fully utilize the scaling capabilities of the robot and leads to longer surgery times. This study examines the effects of master hand controller positions and robotic instrument locations on accuracy and task time with a surgical robot as a basis for future automatic motion scaling systems. Fourteen surgically naive participants were directed to perform a simple aimed movement task on a PDA. Both hand position and robot instrument location had a significant effect on participant accuracy and task time. Hand positions farther away from the center of a participant's comfortable working envelope led to a decrease in accuracy. Conversely, locations closest to the participant's body had the highest accuracy. Robot instrument locations closest to the fulcrum point produced the highest accuracy and lowest task times
School code: 0254
Host Item Masters Abstracts International 45-02
主題 Engineering, Biomedical
Engineering, Mechanical
Health Sciences, Medicine and Surgery
Engineering, Robotics
Alt Author Wayne State University
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