Name
Abstract | ||
|---|---|---|
Accurate master-slave control is important for Robot-Assisted Microsurgery (RAMS). This paper presents a handheld master controller for the operation and training of RAMS. A 9-axis Inertial Measure Unit (IMU) and a micro camera are utilized to form the sensing system for the handheld controller. A new hybrid marker pattern is designed to achieve reliable visual tracking, which integrated QR codes, Aruco markers, and chessboard vertices. Real-time multi-sensor fusion is implemented to further improve the tracking accuracy. The proposed handheld controller has been verified on an in-house microsurgical robot to assess its usability and robustness. User studies were conducted based on a trajectory following task, which indicated that the proposed handheld controller had comparable performance with the Phantom Omni, demonstrating its potential applications in microsurgical robot control and training. |
Year | DOI | Venue |
|---|---|---|
2019 | 10.1109/IROS40897.2019.8967774 | 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
Keywords | Field | DocType |
handheld master controller,robot-assisted microsurgery,accurate master-slave control,RAMS,handheld controller,hybrid marker pattern,visual tracking,in-house microsurgical robot,9-axis inertial measure unit,IMU,QR codes,Aruco markers,chessboard vertices,real-time multisensor fusion,trajectory following task,Phantom Omni | Computer vision,Robot control,Control theory,Computer science,Usability,Robustness (computer science),Mobile device,Eye tracking,Artificial intelligence,Inertial measurement unit,Computer hardware,Robot | Conference |
ISSN | ISBN | Citations |
2153-0858 | 978-1-7281-4005-6 | 1 |
PageRank | References | Authors |
0.37 | 9 | 5 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Dandan Zhang | 1 | 72 | 7.06 |
| Yao Guo | 2 | 7 | 6.23 |
| Junhong Chen | 3 | 15 | 2.36 |
| Jindong Liu | 4 | 207 | 29.44 |
| Guang-Zhong Yang | 5 | 2812 | 297.66 |