Collaborative Hands-on Training on Haptic Simulators
Authors
Angel R. Licona R., Fei Liu, Arnaud Lelevé, Minh Tu Pham
Abstract
Medical trainees are required to acquire sufficient skills before touching a real patient. Nowadays, haptic simulators provide an effective solution but they do not facilitate an active supervision by a trainer who should show the right gestures in terms of motions and forces to apply, in the simulated environment. Dual user training systems aim at this purpose. Even though they permit a cooperative training, they generally dot not enable efficient demonstration/evaluation modes where the user who observes the person performing a manipulation is also able to feel the interaction forces, not only the motion. We earlier introduced the Energy Shared Control (ESC) architecture aiming at providing the latter function. It is modeled with the Port Hamiltonian framework and it embeds a Time Domain Passivity Controller, to compose a one degree-of-freedom (dof) dual-user haptic system for hands-on training. In this paper, we extend it to three dof with three identical haptic devices. Experiments bring information about its performance.
Citation
- Journal: Proceedings of the 2019 3rd International Conference on Virtual and Augmented Reality Simulations
- Year: 2019
- Volume:
- Issue:
- Pages: 39–45
- Publisher: ACM
- DOI: 10.1145/3332305.3332318
BibTeX
@inproceedings{Licona_R__2019,
series={ICVARS ’19},
title={{Collaborative Hands-on Training on Haptic Simulators}},
DOI={10.1145/3332305.3332318},
booktitle={{Proceedings of the 2019 3rd International Conference on Virtual and Augmented Reality Simulations}},
publisher={ACM},
author={Licona R., Angel R. and Liu, Fei and Lelevé, Arnaud and Pham, Minh Tu},
year={2019},
pages={39--45},
collection={ICVARS ’19}
}
References
- Aldana, C. I., Nuño, E., Basañez, L. & Romero, E. Operational space consensus of multiple heterogeneous robots without velocity measurements. Journal of the Franklin Institute vol. 351 1517–1539 (2014) – 10.1016/j.jfranklin.2013.11.012
- Ghorbanian, A., Rezaei, S. M., Khoogar, A. R., Zareinejad, M. & Baghestan, K. A novel control framework for nonlinear time-delayed Dual-master/Single-slave teleoperation. ISA Transactions vol. 52 268–277 (2013) – 10.1016/j.isatra.2012.09.003
- Khademian, B. & Hashtrudi-Zaad, K. Shared control architectures for haptic training: Performance and coupled stability analysis. The International Journal of Robotics Research vol. 30 1627–1642 (2011) – 10.1177/0278364910397559
- Liu, F., Leleve, A., Eberard, D. & Redarce, T. An energy based approach for passive dual-user haptic training systems. 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 5246–5251 (2016) doi:10.1109/iros.2016.7759771 – 10.1109/iros.2016.7759771
- Liu F.. Liu , F. , Lelevé , A. , Redarce , T. , and Eberard , D . A dualuser teleoperation system with adaptive authority adjustment for haptic training . In Proceedings of the 4th International Workshop on Medical and Service Robots (MESROB) ( Nantes, France , July 2015 ). Liu, F., Lelevé, A., Redarce, T., and Eberard, D. A dualuser teleoperation system with adaptive authority adjustment for haptic training. In Proceedings of the 4th International Workshop on Medical and Service Robots (MESROB) (Nantes, France, July 2015). (2015)
- Nudehi, S. S., Mukherjee, R. & Ghodoussi, M. A shared-control approach to haptic interface design for minimally invasive telesurgical training. IEEE Transactions on Control Systems Technology vol. 13 588–592 (2005) – 10.1109/tcst.2004.843131
- Panait, L. et al. The Role of Haptic Feedback in Laparoscopic Simulation Training. Journal of Surgical Research vol. 156 312–316 (2009) – 10.1016/j.jss.2009.04.018
- Stramigioli. Stramigioli , S. Creating Artificial Damping By Means of Damping Injection. In Proceedings of the ASME Dynamic Systems and Control Division ( 1996 ), vol. DSC. 58 , pp. 601 – 606 . Stramigioli, S. Creating Artificial Damping By Means of Damping Injection. In Proceedings of the ASME Dynamic Systems and Control Division (1996), vol. DSC.58, pp. 601–606. (1996)
- Stramigioli S.. Stramigioli , S. Modeling and ipc control of interactive mechanical systems - a coordinate-free approach . In Lecture Notes in Control and Information Sciences , vol. 266 . Springer , 2001 . Stramigioli, S. Modeling and ipc control of interactive mechanical systems - a coordinate-free approach. In Lecture Notes in Control and Information Sciences, vol. 266. Springer, 2001. (2001)
- Sutherland, C., Hashtrudi-Zaad, K., Sellens, R., Abolmaesumi, P. & Mousavi, P. An Augmented Reality Haptic Training Simulator for Spinal Needle Procedures. IEEE Transactions on Biomedical Engineering vol. 60 3009–3018 (2013) – 10.1109/tbme.2012.2236091
- Van Damme, M. et al. Estimating robot end-effector force from noisy actuator torque measurements. 2011 IEEE International Conference on Robotics and Automation (2011) doi:10.1109/icra.2011.5980210 – 10.1109/icra.2011.5980210
- Vaughan, N., Dubey, V. N., Wainwright, T. W. & Middleton, R. G. A review of virtual reality based training simulators for orthopaedic surgery. Medical Engineering & Physics vol. 38 59–71 (2016) – 10.1016/j.medengphy.2015.11.021
- Zakerimanesh, A., Hashemzadeh, F. & Ghiasi, A. R. Dual-user nonlinear teleoperation subjected to varying time delay and bounded inputs. ISA Transactions vol. 68 33–47 (2017) – 10.1016/j.isatra.2017.02.010
- Zevin, B., Aggarwal, R. & Grantcharov, T. P. Surgical Simulation in 2013: Why Is It Still Not the Standard in Surgical Training? Journal of the American College of Surgeons vol. 218 294–301 (2014) – 10.1016/j.jamcollsurg.2013.09.016