拡張現実ガイドによる協働ロボットの手術手技向け遠隔操作
Mixed-Reality-Guided Teleoperation of a Collaborative Robot for Surgical Procedures
Hololens 2と協働ロボットKuka IIWAを組み合わせ、ジェスチャーで直感的に遠隔操作できる手術支援システムを提案し、その動作を実験で検証した。
著者: Gabriela Rus, Nadim Al Hajjar, Paul Tucan, Andra Ciocan, Calin Vaida, Corina Radu, Damien Chablat, Doina Pisla
分類: cs.RO
原文アブストラクト
The development of advanced surgical systems embedding the Master-Slave control strategy introduced the possibility of remote interaction between the surgeon and the patient, also known as teleoperation. The present paper aims to integrate innovative technologies into the teleoperation process to enhance workflow during surgeries. The proposed system incorporates a collaborative robot, Kuka IIWA LBR, and Hololens 2 (an augmented reality device), allowing the user to control the robot in an expansive environment that integrates actual (real data) with additional digital information imported via Hololens 2. Experimental data demonstrate the user's ability to control the Kuka IIWA using various gestures to position it with respect to real or digital objects. Thus, this system offers a novel solution to manipulate robots used in surgeries in a more intuitive manner, contributing to the reduction of the learning curve for surgeons. Calibration and testing in multiple scenarios demonstrate the efficiency of the system in providing seamless movements.
