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A Virtual Framework for Semi-Autonomous Robotic Surgery using Real-Time Spatial Mapping

Sudhakaran Nair, Sudhesh
http://rave.ohiolink.edu/etdc/view?acc_num=ucin1378196074

Abstract Details

2013, MS, University of Cincinnati, Engineering and Applied Science: Electrical Engineering.
A suite of experiments was performed to investigate the influence of time-delay on teleoperation accuracy and efficiency during a trajectory tracking task. Performance was measured using RMS error (deviation from ideal path), actual path length, and time to complete the task. It was found that beyond about 1.5 seconds the task difficulty increased substantially, as reflected by increasing RMS error. Furthermore, efficiency was reduced as reflected by increased time to complete the task. Starting at around 1.5 seconds of time-delay, subjects tended to adopt a discontinuous, move-and-pause strategy to improve accuracy at the expense of task completion time. With imposed pacing, RMS error continues to increase beyond 1.5 seconds and some subjects were not able to complete the task in the allotted 90 second timeframe. A novel system was designed to perform the same tasks semi-autonomously. The system was designed using Real-Time motion capture, spatial mapping and virtual reconstruction based on the inputs. The task was effectively divided into multiple segments and Bezier Curves were used to calculate smooth path in each segment. The efficiency and feasibility of this semi-autonomous system was evaluated in different environments under varying degrees of motion and results have been presented. The results indicate that the accuracy and efficiency of a semi-autonomous robotic procedure is a substantial improvement over that of human teleoperators under varying latencies.
Fred Beyette, Ph.D. (Committee Chair)
Grant Schaffner, Ph.D. (Committee Member)
Xuefu Zhou, Ph.D. (Committee Member)
71 p.
Electrical Engineering
Telerobotic Surgery; Robotic Surgery; Surgical Automation

Recommended Citations

Citations

  • Sudhakaran Nair, S. (2013). A Virtual Framework for Semi-Autonomous Robotic Surgery using Real-Time Spatial Mapping [Master's thesis, University of Cincinnati]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1378196074

    APA Style (7th edition)

  • Sudhakaran Nair, Sudhesh. A Virtual Framework for Semi-Autonomous Robotic Surgery using Real-Time Spatial Mapping. 2013. University of Cincinnati, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=ucin1378196074.

    MLA Style (8th edition)

  • Sudhakaran Nair, Sudhesh. "A Virtual Framework for Semi-Autonomous Robotic Surgery using Real-Time Spatial Mapping." Master's thesis, University of Cincinnati, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1378196074

    Chicago Manual of Style (17th edition)

ucin1378196074
469
© 2013, all rights reserved.
This open access ETD is published by University of Cincinnati and OhioLINK.