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Human-as-a-robot performance in mixed reality teleultrasound
PURPOSE: In “human teleoperation” (HT), mixed reality (MR) and haptics are used to tightly couple an expert leader to a human follower [1]. To determine the feasibility of HT for teleultrasound, we quantify the ability of humans to track a position and/or force trajectory via MR cues. The human resp...
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Springer International Publishing
2023
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10123558/ https://www.ncbi.nlm.nih.gov/pubmed/37093527 http://dx.doi.org/10.1007/s11548-023-02896-0 |
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author | Black, David Salcudean, Septimiu |
author_facet | Black, David Salcudean, Septimiu |
author_sort | Black, David |
collection | PubMed |
description | PURPOSE: In “human teleoperation” (HT), mixed reality (MR) and haptics are used to tightly couple an expert leader to a human follower [1]. To determine the feasibility of HT for teleultrasound, we quantify the ability of humans to track a position and/or force trajectory via MR cues. The human response time, precision, frequency response, and step response were characterized, and several rendering methods were compared. METHODS: Volunteers (n=11) performed a series of tasks as the follower in our HT system. The tasks involved tracking pre-recorded series of motions and forces while pose and force were recorded. The volunteers then performed frequency response tests and filled out a questionnaire. RESULTS: Following force and pose simultaneously was more difficult but did not lead to significant performance degradation versus following one at a time. On average, subjects tracked positions, orientations, and forces with RMS tracking errors of [Formula: see text] mm, [Formula: see text] , [Formula: see text] N, steady-state errors of [Formula: see text] mm, [Formula: see text] N, and lags of [Formula: see text] ms, respectively. Performance decreased with input frequency, depending on the input amplitude. CONCLUSION: Teleoperating a person through MR is a novel concept with many possible applications. However, it is unknown what performance is achievable and which approaches work best. This paper thus characterizes human tracking ability in MR HT for teleultrasound, which is important for designing future tightly coupled guidance and training systems using MR. |
format | Online Article Text |
id | pubmed-10123558 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2023 |
publisher | Springer International Publishing |
record_format | MEDLINE/PubMed |
spelling | pubmed-101235582023-04-25 Human-as-a-robot performance in mixed reality teleultrasound Black, David Salcudean, Septimiu Int J Comput Assist Radiol Surg Original Article PURPOSE: In “human teleoperation” (HT), mixed reality (MR) and haptics are used to tightly couple an expert leader to a human follower [1]. To determine the feasibility of HT for teleultrasound, we quantify the ability of humans to track a position and/or force trajectory via MR cues. The human response time, precision, frequency response, and step response were characterized, and several rendering methods were compared. METHODS: Volunteers (n=11) performed a series of tasks as the follower in our HT system. The tasks involved tracking pre-recorded series of motions and forces while pose and force were recorded. The volunteers then performed frequency response tests and filled out a questionnaire. RESULTS: Following force and pose simultaneously was more difficult but did not lead to significant performance degradation versus following one at a time. On average, subjects tracked positions, orientations, and forces with RMS tracking errors of [Formula: see text] mm, [Formula: see text] , [Formula: see text] N, steady-state errors of [Formula: see text] mm, [Formula: see text] N, and lags of [Formula: see text] ms, respectively. Performance decreased with input frequency, depending on the input amplitude. CONCLUSION: Teleoperating a person through MR is a novel concept with many possible applications. However, it is unknown what performance is achievable and which approaches work best. This paper thus characterizes human tracking ability in MR HT for teleultrasound, which is important for designing future tightly coupled guidance and training systems using MR. Springer International Publishing 2023-04-24 /pmc/articles/PMC10123558/ /pubmed/37093527 http://dx.doi.org/10.1007/s11548-023-02896-0 Text en © CARS 2023, Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law. This article is made available via the PMC Open Access Subset for unrestricted research re-use and secondary analysis in any form or by any means with acknowledgement of the original source. These permissions are granted for the duration of the World Health Organization (WHO) declaration of COVID-19 as a global pandemic. |
spellingShingle | Original Article Black, David Salcudean, Septimiu Human-as-a-robot performance in mixed reality teleultrasound |
title | Human-as-a-robot performance in mixed reality teleultrasound |
title_full | Human-as-a-robot performance in mixed reality teleultrasound |
title_fullStr | Human-as-a-robot performance in mixed reality teleultrasound |
title_full_unstemmed | Human-as-a-robot performance in mixed reality teleultrasound |
title_short | Human-as-a-robot performance in mixed reality teleultrasound |
title_sort | human-as-a-robot performance in mixed reality teleultrasound |
topic | Original Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10123558/ https://www.ncbi.nlm.nih.gov/pubmed/37093527 http://dx.doi.org/10.1007/s11548-023-02896-0 |
work_keys_str_mv | AT blackdavid humanasarobotperformanceinmixedrealityteleultrasound AT salcudeanseptimiu humanasarobotperformanceinmixedrealityteleultrasound |