Paper Info
Title
Reducing The Number Of Degrees Of Freedom To Control An Eye Surgical Robot Through Classification Of Surgical Phases
Abstract
This paper introduces an optimized input device workflow to control an eye surgical robot in a simulated vitreoretinal environment. The input device is a joystick with four Degrees of Freedom (DOF) that controls a six DOFs robot. This aim is achieved through a segmentation plan for an eye surgeon. In this study, the different surgical phases are defined while each phase includes their specific number of DOFs. The segmentation plan is divided into four surgical phases: Phase I: Approach with three DOFs; Phase II: Introduction with three DOFs; Phase III: Aim with 3+1 DOFs; and Phase IV: Injection with one DOF. Taking these phases into consideration, an eye surgical robot with six DOFs could he controlled through a joystick with only four DOFs intuitively. In this work we show that reducing the number of DOFs will decrease the complexity of the surgery with a robotic platform.
Year
DOI
Venue
2019
10.1109/EMBC.2019.8857360
2019 41ST ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)
Field
DocType
Volume
Computer vision,Segmentation,Computer science,Medical robotics,Artificial intelligence,Joystick,Robot,Workflow,Eye Surgeon,Input device
Conference
2019
ISSN
Citations 
PageRank 
1557-170X
0
0.34
References 
Authors
0
5
Name
Order
Citations
PageRank
Hadi Askari Poor100.34
Mingchuan Zhou255.21
Chris P. Lohmann3194.60
Pietro Cerveri4179.05
M. Ali Nasseri565.59