Abstract
The handle design of telemanipulation master devices has not been extensively studied so far. However, the master device handle is an integral part of the robotic system through which the user interacts with the system. Previous work showed that the size and shape of the functional rotational workspace of the human-robot system and its usability are influenced by the design of the master device handle. Still, in certain situations, e.g., due to user preference, a specific grasp type handle might be desired. Therefore, in this article, we provide a systematic approach on how to assess and adjust the functional rotational workspace of a human-robot system. We investigated the functional rotational workspace with two exemplary grasp type handles and two different mounting orientations for each handle. The results showed that by adapting the handle orientation in the home configuration of the telemanipulator, the functional rotational workspace of the human-robot system can be adjusted systematically to cover more of the mechanical workspace of the master device. Finally, we deduct recommendations on how to choose and adjust a telemanipulator handle.
Highlights
T ELEOPERATED surgical robots are becoming more and more popular
This section consists of a summary of a previously published study [22], where we evaluated the functional rotational workspace of a human-robot system with the forearm strapped to an armrest in a horizontal posture for different grasp type handles
The functional rotational workspace for the lambda.6 was assessed with the following nine different grasp type handles: power disk, quadpod, power sphere, tripod, precision disk, parallel extension, fixed hook, writing tripod, and adducted thumb. These handles cover a selection of the 33 grasp types described in [24], which we considered being appropriate for six degrees of freedom (DoF) telemanipulation tasks with the lambda.6 haptic device [25]
Summary
In 2018, an estimate of more than one million robotic surgeries had been performed worldwide with da Vinci systems alone [1]. In these surgeries, the surgeon controls the surgical instrument (slave) via a remote input device (master). The spatial separation of the surgeon and the instrument allows the master device motions to be processed before they are transferred to the slave. The master device motions can, for example, be downscaled, allowing more precise instrument motions than a human could perform [2]. If the master moves into a previously defined forbidden region, the master device motions can be completely ignored, thereby preventing the slave from damaging delicate tissue [3]
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