TY - GEN
T1 - Reducing the Number of Degrees of Freedom to Control an Eye Surgical Robot through Classification of Surgical Phases.
AU - Poor, Hadi Askari
AU - Zhou, Mingchuan
AU - Lohmann, Chris P.
AU - Cerveri, Pietro
AU - Nasseri, M. Ali
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/7
Y1 - 2019/7
N2 - This paper introduces an optimized input device workflow to control an eye surgical robot in a simulated vitreoretinal environment. The input device is a joystick with four Degrees of Freedom (DOF) that controls a six DOFs robot. This aim is achieved through a segmentation plan for an eye surgeon. In this study, the different surgical phases are defined while each phase includes their specific number of DOFs. The segmentation plan is divided into four surgical phases: Phase I: Approach with three DOFs; Phase II: Introduction with three DOFs; Phase III: Aim with 3+1 DOFs; and Phase IV: Injection with one DOF. Taking these phases into consideration, an eye surgical robot with six DOFs could be controlled through a joystick with only four DOFs intuitively. In this work we show that reducing the number of DOFs will decrease the complexity of the surgery with a robotic platform.
AB - This paper introduces an optimized input device workflow to control an eye surgical robot in a simulated vitreoretinal environment. The input device is a joystick with four Degrees of Freedom (DOF) that controls a six DOFs robot. This aim is achieved through a segmentation plan for an eye surgeon. In this study, the different surgical phases are defined while each phase includes their specific number of DOFs. The segmentation plan is divided into four surgical phases: Phase I: Approach with three DOFs; Phase II: Introduction with three DOFs; Phase III: Aim with 3+1 DOFs; and Phase IV: Injection with one DOF. Taking these phases into consideration, an eye surgical robot with six DOFs could be controlled through a joystick with only four DOFs intuitively. In this work we show that reducing the number of DOFs will decrease the complexity of the surgery with a robotic platform.
UR - http://www.scopus.com/inward/record.url?scp=85077872189&partnerID=8YFLogxK
U2 - 10.1109/EMBC.2019.8857360
DO - 10.1109/EMBC.2019.8857360
M3 - Conference contribution
C2 - 31947077
AN - SCOPUS:85077872189
T3 - Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
SP - 5403
EP - 5406
BT - 2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2019
Y2 - 23 July 2019 through 27 July 2019
ER -