Abstract
This paper introduces a novel type of human-machine interface for laparoscopic telesurgery that employs an optical sensor. A Raven-II laparascopic robot (Applied Dexterity Inc) was teleoperated using two different human-machine interfaces, namely the Sigma 7 electro-mechanical device (Force Dimension Sarl) and the Leap Motion (Leap Motion Inc) infrared stereoscopic camera. Based on this hardware platform, a comparative study of both systems was performed through objective and subjective metrics, which were obtained from a population of 10 subjects. The participants were asked to perform a peg transferring task and to answer a questionnaire. Obtained results allow to confirm that fine tracking of the hand could be performed with the Leap Motion sensor. Such tracking comprises accurate finger motion acquisition to control the robot’s laparoscopic instrument jaws. Furthermore, the observed performance of the optical interface proved to be comparable to that of traditional electro-mechanical devices, such as the Sigma 7, during adequate execution of highly-dexterous laparascopic gestures.
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Despinoy, F., Sánchez, A., Zemiti, N., Jannin, P., Poignet, P. (2014). Comparative Assessment of a Novel Optical Human-Machine Interface for Laparoscopic Telesurgery. In: Stoyanov, D., Collins, D.L., Sakuma, I., Abolmaesumi, P., Jannin, P. (eds) Information Processing in Computer-Assisted Interventions. IPCAI 2014. Lecture Notes in Computer Science, vol 8498. Springer, Cham. https://doi.org/10.1007/978-3-319-07521-1_3
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DOI: https://doi.org/10.1007/978-3-319-07521-1_3
Publisher Name: Springer, Cham
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