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A Human Gesture Mapping Method to Control a Multi‐Functional Hand for Robot‐Assisted Laparoscopic Surgery: The MUSHA Case
This work presents a novel technique to control multi-functional hand for robot-assisted laparoscopic surgery. We tested the technique using the MUSHA multi-functional hand, a robot-aided minimally invasive surgery tool with more degrees of freedom than the standard commercial end-effector of the da...
Autores principales: | , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Frontiers Media S.A.
2021
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8725602/ https://www.ncbi.nlm.nih.gov/pubmed/34993237 http://dx.doi.org/10.3389/frobt.2021.741807 |
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author | Ficuciello, Fanny Villani, Alberto Lisini Baldi, Tommaso Prattichizzo, Domenico |
author_facet | Ficuciello, Fanny Villani, Alberto Lisini Baldi, Tommaso Prattichizzo, Domenico |
author_sort | Ficuciello, Fanny |
collection | PubMed |
description | This work presents a novel technique to control multi-functional hand for robot-assisted laparoscopic surgery. We tested the technique using the MUSHA multi-functional hand, a robot-aided minimally invasive surgery tool with more degrees of freedom than the standard commercial end-effector of the da Vinci robot. Extra degrees of freedom require the development of a proper control strategy to guarantee high performance and avoid an increasing complexity of control consoles. However, developing reliable control algorithms while reducing the control side’s mechanical complexity is still an open challenge. In the proposed solution, we present a control strategy that projects the human hand motions into the robot actuation space. The human hand motions are tracked by a LeapMotion camera and mapped into the actuation space of the virtualized end-effector. The effectiveness of the proposed method was evaluated in a twofold manner. Firstly, we verified the Lyapunov stability of the algorithm, then an user study with 10 subjects assessed the intuitiveness and usability of the system. |
format | Online Article Text |
id | pubmed-8725602 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2021 |
publisher | Frontiers Media S.A. |
record_format | MEDLINE/PubMed |
spelling | pubmed-87256022022-01-05 A Human Gesture Mapping Method to Control a Multi‐Functional Hand for Robot‐Assisted Laparoscopic Surgery: The MUSHA Case Ficuciello, Fanny Villani, Alberto Lisini Baldi, Tommaso Prattichizzo, Domenico Front Robot AI Robotics and AI This work presents a novel technique to control multi-functional hand for robot-assisted laparoscopic surgery. We tested the technique using the MUSHA multi-functional hand, a robot-aided minimally invasive surgery tool with more degrees of freedom than the standard commercial end-effector of the da Vinci robot. Extra degrees of freedom require the development of a proper control strategy to guarantee high performance and avoid an increasing complexity of control consoles. However, developing reliable control algorithms while reducing the control side’s mechanical complexity is still an open challenge. In the proposed solution, we present a control strategy that projects the human hand motions into the robot actuation space. The human hand motions are tracked by a LeapMotion camera and mapped into the actuation space of the virtualized end-effector. The effectiveness of the proposed method was evaluated in a twofold manner. Firstly, we verified the Lyapunov stability of the algorithm, then an user study with 10 subjects assessed the intuitiveness and usability of the system. Frontiers Media S.A. 2021-12-10 /pmc/articles/PMC8725602/ /pubmed/34993237 http://dx.doi.org/10.3389/frobt.2021.741807 Text en Copyright © 2021 Ficuciello, Villani, Lisini Baldi and Prattichizzo. https://creativecommons.org/licenses/by/4.0/This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms. |
spellingShingle | Robotics and AI Ficuciello, Fanny Villani, Alberto Lisini Baldi, Tommaso Prattichizzo, Domenico A Human Gesture Mapping Method to Control a Multi‐Functional Hand for Robot‐Assisted Laparoscopic Surgery: The MUSHA Case |
title | A Human Gesture Mapping Method to Control a Multi‐Functional Hand for Robot‐Assisted Laparoscopic Surgery: The MUSHA Case |
title_full | A Human Gesture Mapping Method to Control a Multi‐Functional Hand for Robot‐Assisted Laparoscopic Surgery: The MUSHA Case |
title_fullStr | A Human Gesture Mapping Method to Control a Multi‐Functional Hand for Robot‐Assisted Laparoscopic Surgery: The MUSHA Case |
title_full_unstemmed | A Human Gesture Mapping Method to Control a Multi‐Functional Hand for Robot‐Assisted Laparoscopic Surgery: The MUSHA Case |
title_short | A Human Gesture Mapping Method to Control a Multi‐Functional Hand for Robot‐Assisted Laparoscopic Surgery: The MUSHA Case |
title_sort | human gesture mapping method to control a multi‐functional hand for robot‐assisted laparoscopic surgery: the musha case |
topic | Robotics and AI |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8725602/ https://www.ncbi.nlm.nih.gov/pubmed/34993237 http://dx.doi.org/10.3389/frobt.2021.741807 |
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