Hand-Impedance Measurement During Laparoscopic Training Coupled with Robotic Manipulators

Harun Tugal, Benjamin Gautier, Merve Kircicek, Mustafa Suphi Erden

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Abstract

This paper presents measurements of human hand-impedance during a laparoscopic training program with physically interactive robotic manipulators. The knowledge of how the hand-impedance changes due to training might be
useful to inform better training programs and to introduce co-manipulated robotic assistants for effective trainings. Ten novice subjects participated in a three weeks training program for a suturing activity in laparoscopy. The subjects have been instructed to set the needle, enter the skin, and tie knots by using laparoscopic tools within a Minimally Invasive Surgery training box. Variable admittance controlled robots, attached to the tools with force sensors, applied step vice velocity disturbances while subjects were trying to set the needle. Based on the interaction force and end-effector position information, impedances of the left and right hands were computed in four different directions. The computed results were compared with respect to the participants skill progression.
Original languageEnglish
Title of host publication2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
PublisherIEEE
Pages4404-4410
Number of pages7
ISBN (Electronic)9781538680940
DOIs
Publication statusPublished - 7 Jan 2019
Event31st IEEE/RSJ International Conference on Intelligent Robots and Systems 2018 - Madrid, Spain
Duration: 1 Oct 20185 Oct 2018
https://www.iros2018.org/

Publication series

NameIEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherIEEE
ISSN (Electronic)2153-0866

Conference

Conference31st IEEE/RSJ International Conference on Intelligent Robots and Systems 2018
Abbreviated titleIROS 2018
CountrySpain
CityMadrid
Period1/10/185/10/18
Internet address

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Tugal, H., Gautier, B., Kircicek, M., & Erden, M. S. (2019). Hand-Impedance Measurement During Laparoscopic Training Coupled with Robotic Manipulators. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 4404-4410). (IEEE/RSJ International Conference on Intelligent Robots and Systems). IEEE. https://doi.org/10.1109/IROS.2018.8593560