Access to systems for robot-assisted surgery is limited due to high costs. To enable widespread use, numerous issues have to be addressed to improve and/or simplify their components. Current systems commonly use universal linkage-based input devices, and only a few application-oriented and specialized designs are used. A versatile virtual reality controller is proposed as an alternative input device for the control of a seven degree of freedom articulated robotic arm. The real-time capabilities of the setup, replicating a system for robot-assisted teleoperated surgery, are investigated to assess suitability. Image-based assessment showed a considerable system latency of 81.7 ± 27.7 ms. However, due to its versatility, the virtual reality controller is a promising alternative to current input devices for research around medical telemanipulation systems.
%0 Journal Article
%1 TelemanipulationofanArticulatedRoboticArmusingaCommercialVirtualRealityController
%A Schäfer, Max B.
%A Stewart, Kent W.
%A Lösch, Nico
%A Pott, Peter P.
%C Berlin, Boston
%D 2020
%I De Gruyter
%J Current Directions in Biomedical Engineering
%K imt industrial-robots institut-für-medizingerätetechnik medizingerätetechnik myown telemanipulation teleoperated-surgery teleoperationsend:unibiblio
%N 3
%P 127 - 130
%R https://doi.org/10.1515/cdbme-2020-3033
%T Telemanipulation of an Articulated Robotic Arm using a Commercial Virtual Reality Controller
%U https://www.degruyter.com/view/journals/cdbme/6/3/article-p127.xml
%V 6
%X Access to systems for robot-assisted surgery is limited due to high costs. To enable widespread use, numerous issues have to be addressed to improve and/or simplify their components. Current systems commonly use universal linkage-based input devices, and only a few application-oriented and specialized designs are used. A versatile virtual reality controller is proposed as an alternative input device for the control of a seven degree of freedom articulated robotic arm. The real-time capabilities of the setup, replicating a system for robot-assisted teleoperated surgery, are investigated to assess suitability. Image-based assessment showed a considerable system latency of 81.7 ± 27.7 ms. However, due to its versatility, the virtual reality controller is a promising alternative to current input devices for research around medical telemanipulation systems.
@article{TelemanipulationofanArticulatedRoboticArmusingaCommercialVirtualRealityController,
abstract = {Access to systems for robot-assisted surgery is limited due to high costs. To enable widespread use, numerous issues have to be addressed to improve and/or simplify their components. Current systems commonly use universal linkage-based input devices, and only a few application-oriented and specialized designs are used. A versatile virtual reality controller is proposed as an alternative input device for the control of a seven degree of freedom articulated robotic arm. The real-time capabilities of the setup, replicating a system for robot-assisted teleoperated surgery, are investigated to assess suitability. Image-based assessment showed a considerable system latency of 81.7 ± 27.7 ms. However, due to its versatility, the virtual reality controller is a promising alternative to current input devices for research around medical telemanipulation systems.},
added-at = {2020-12-02T15:59:52.000+0100},
address = {Berlin, Boston},
author = {Schäfer, Max B. and Stewart, Kent W. and Lösch, Nico and Pott, Peter P.},
biburl = {https://puma.ub.uni-stuttgart.de/bibtex/25d65a22ce9b0f50a550190dbd5c0291d/maxschaefer},
doi = {https://doi.org/10.1515/cdbme-2020-3033},
interhash = {78035ea96a12be83ecb45de933865c1e},
intrahash = {5d65a22ce9b0f50a550190dbd5c0291d},
journal = {Current Directions in Biomedical Engineering},
keywords = {imt industrial-robots institut-für-medizingerätetechnik medizingerätetechnik myown telemanipulation teleoperated-surgery teleoperationsend:unibiblio},
number = 3,
pages = {127 - 130},
publisher = {De Gruyter},
timestamp = {2020-12-07T08:13:58.000+0100},
title = {Telemanipulation of an Articulated Robotic Arm using a Commercial Virtual Reality Controller},
url = {https://www.degruyter.com/view/journals/cdbme/6/3/article-p127.xml},
volume = 6,
year = 2020
}
