Comparison of Haptic and Auditory Feedback Methods for the Teleoperation of Concentric Tube Continuum Robots

Lilge, Sven; Black, David; Nabavi, Arya; Burgner-Kahrs, Jessica
Conference -- 17. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboter-assistierte Chirurgie (CURAC)At -- Leipzig, Germany, 2018
Comparison of Haptic and Auditory Feedback Methods for the Teleoperation of Concentric Tube Continuum Robots

Abstract


Due to their high dexterity and good miniturizability, concentric tube continuum robots are well suited forminimally invasive surgeries. In such scenarios, the manipulator is often directly teleoperated by a surgeon,while the feedback is limited to a camera feed from an endoscope which is guided to follow the robot’s mo-vements. To further assist the operating surgeon, additional feedback for the teleoperation in medical scenariosis investigated.This work focuses on the comparison of haptic and auditory feedback, generated using the method ofvirtual fixtures, for the teleoperation of concentric tube continuum robots. For evaluation, a user study usinga simulated medical application is conducted. Results show an increase in satisfaction and usability scores, aswell as a decrease in task load and execution time when applying haptic feedback. The use of auditory feedbackdoes not show quantitative benefits and received diverse ratings from the participants.

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