Virtual Reality-based Telesurgery via Teleprogramming Scheme Combined with Semi-autonomous Control

Telesurgery systems have long been suffering variable and unpredictable Internet commutation time delay, operation fatigue, and other drawbacks. Based on virtual reality technology, a teleprogramming scheme combined with semi-autonomous control is introduced to guarantee the robustness and efficiency of teleoperation of HIT-RAOS, a robot-assisted orthopedic surgery system. In this system, without considering time delay, the operator can just interact with virtual environment which provides real-time 3D vision, stereophonic sound, and tactile and force feedback imitated by a parallel master manipulator. And several tasks can be managed simultaneously via semi-autonomous control. Finally, the method is experimentally demonstrated on an experiment of locking of intramedullary nails, and is shown to effectively provide stability and performances

[1]  R. Paul,et al.  Teleprogramming: overcoming communication delays in remote manipulation , 1990, 1990 IEEE International Conference on Systems, Man, and Cybernetics Conference Proceedings.

[2]  Lynne E. Parker,et al.  On the design and development of a human-robot synergistic system , 1992, Robotics Auton. Syst..

[3]  Leo Joskowicz,et al.  Bone-mounted miniature robot for surgical procedures: Concept and clinical applications , 2003, IEEE Trans. Robotics Autom..

[4]  Roque Marín,et al.  A very high level interface to teleoperate a robot via Web including augmented reality , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[5]  S. Ganjefar,et al.  Behavior of Smith predictor in teleoperation systems with modeling and delay time errors , 2003, Proceedings of 2003 IEEE Conference on Control Applications, 2003. CCA 2003..

[6]  Erika Rogers,et al.  Cooperative Assistance for Remote Robot Supervision , 1995, Presence: Teleoperators & Virtual Environments.

[7]  David Holt,et al.  Telesurgery: Advances and Trends , 2004 .

[8]  Yuechao Wang,et al.  The control oriented QoS: analysis and prediction , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[9]  R.P. Paul,et al.  Efficient control of a robotic system for time-delayed environments , 1991, Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments.