Hagmann, Katharina und Hellings-Kuss, Anja und Steidle, Florian und Stulp, Freek und Leidner, Daniel und Klodmann, Julian (2024) Continuous Transitions between Levels of Autonomy based on Virtual Fixtures for Surgical Robotic Systems. In: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024. IEEE. IEEE/RSJ International Conference on Intelligent Robots and Systems, Abu Dhabi, UAE. (im Druck)
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Kurzfassung
Nowadays, telemanipulation robotic systems are present in many operating rooms. The exploitation of autonomy for minimally invasive robotic surgery remains an open field of research as it is non-trivial to provide meaningful assistance. This work presents a novel virtual fixture providing haptic augmentation for shared control as well as task-level autonomy, while ensuring continuous transitions of control between the robotic system and the surgeon. Transitions between levels of autonomy are based on information about the robotic system and its environment. The proposed method is evaluated through experiments which show the successful completion of surgeon training tasks, namely peg transfer and suturing, exploiting shared control and task-level autonomy.
elib-URL des Eintrags: | https://elib.dlr.de/203851/ | ||||||||||||||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Anderer) | ||||||||||||||||||||||||||||
Zusätzliche Informationen: | This work has been submitted to the IEEE for possible publication. Copyright may be transferred without notice, after which this version may no longer be accessible. | ||||||||||||||||||||||||||||
Titel: | Continuous Transitions between Levels of Autonomy based on Virtual Fixtures for Surgical Robotic Systems | ||||||||||||||||||||||||||||
Autoren: |
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Datum: | 2024 | ||||||||||||||||||||||||||||
Erschienen in: | 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024 | ||||||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||||||
Open Access: | Nein | ||||||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||||||
In SCOPUS: | Nein | ||||||||||||||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||||||||||||||
Verlag: | IEEE | ||||||||||||||||||||||||||||
Status: | im Druck | ||||||||||||||||||||||||||||
Stichwörter: | Surgical Robotics: Laparoscopy; AI-Based Methods; Telerobotics and Teleoperation | ||||||||||||||||||||||||||||
Veranstaltungstitel: | IEEE/RSJ International Conference on Intelligent Robots and Systems | ||||||||||||||||||||||||||||
Veranstaltungsort: | Abu Dhabi, UAE | ||||||||||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||||||||||
Veranstalter : | IEEE/RSJ | ||||||||||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||||||||||
HGF - Programmthema: | Robotik | ||||||||||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Medizinische Assistenzsysteme [RO] | ||||||||||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||||||||||||||
Hinterlegt von: | Hagmann, Katharina | ||||||||||||||||||||||||||||
Hinterlegt am: | 19 Apr 2024 09:52 | ||||||||||||||||||||||||||||
Letzte Änderung: | 13 Nov 2024 22:06 |
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