Abstract
This paper investigates how kinematics of the master hand-controller, in a teleoperated system, is related to performance of the entire system. Experimental validations are presented on a surgical robotic system by emulating a part of microsurgery procedure in a laboratory setting. Isotropy index is chosen as a quantitative kinematic tool. The performance of the system is evaluated using four measures: rates of slave and master actuators efforts as well as distances travelled by the slave end-effector and the haptic implement. Results indicate that when the haptic device moves within regions with higher isotropy index, the performance improves. In order to further enhance the performance, the master site is augmented by a clutch that is found helpful to increase the hand-controller dexterity.
An erratum to this chapter can be found at http://dx.doi.org/10.1007/978-3-662-44196-1_50
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Maddahi, Y. et al. (2014). Performance Evaluation of a Surgical Telerobotic System Using Kinematic Indices of the Master Hand-Controller. In: Auvray, M., Duriez, C. (eds) Haptics: Neuroscience, Devices, Modeling, and Applications. EuroHaptics 2014. Lecture Notes in Computer Science(), vol 8619. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-44196-1_21
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DOI: https://doi.org/10.1007/978-3-662-44196-1_21
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