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dc.contributor.author
Zoller, Esther
dc.contributor.author
Aiello, Gregorio
dc.contributor.author
Zam, Azhar
dc.contributor.author
Cattin, Philippe C.
dc.contributor.author
Rauter, Georg
dc.date.accessioned
2018-10-31T08:53:55Z
dc.date.available
2017-12-30T15:55:01Z
dc.date.available
2018-01-03T09:21:38Z
dc.date.available
2018-10-18T08:00:57Z
dc.date.available
2018-10-31T08:53:55Z
dc.date.issued
2017-06-07
dc.identifier.uri
http://hdl.handle.net/20.500.11850/224871
dc.identifier.doi
10.3929/ethz-b-000224871
dc.description.abstract
Minimally invasive robot-assisted laser osteotomy poses new challenges for tele-manipulation. The surgeon does not only need to move the end-effector to a desired position inside the patient's body, but also to a specific orientation for the laser beam to cut the bone at the desired angle. The herein proposed work investigates if haptic position feedback in form of a path controller (also known as virtual fixture) in addition to visual feedback improves the time and path length to reach the target pose using a teleoperation system. In a pilot study in a virtual environment, we showed that both the time to the target position and the covered path length could be reduced by the haptic feedback. However, most of the time spent on the task was invested to reach the target orientation. Therefore, more investigations will be needed to determine if haptic feedback can improve the human's performance also for end-effector orientation.
en_US
dc.language.iso
en
en_US
dc.publisher
IEEE
en_US
dc.rights.uri
http://rightsstatements.org/page/InC-NC/1.0/
dc.subject
Haptics
en_US
dc.subject
SURGERY (MEDICINE)
en_US
dc.subject
guidance
en_US
dc.subject
MINIMAL-INVASIVE CHIRURGIE, MIKROCHIRURGIE, ENDOSKOPISCHE CHIRURGIE
en_US
dc.title
Is 3-DoF position feedback sufficient for exact positioning of a robotic endoscope end-effector in the human knee?
en_US
dc.type
Conference Paper
dc.rights.license
In Copyright - Non-Commercial Use Permitted
ethz.size
2 p.
en_US
ethz.code.ddc
6 - Technology, medicine and applied sciences::610 - Medical sciences, medicine
en_US
ethz.code.ddc
5 - Science::500 - Natural sciences
en_US
ethz.event
IEEE World Haptics Conference (WHC 2017)
en_US
ethz.event.location
Fürstenfeldbruck, Germany
en_US
ethz.event.date
June 6-9, 2017
en_US
ethz.publication.place
Piscataway, NJ
en_US
ethz.publication.status
unpublished
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02070 - Dep. Gesundheitswiss. und Technologie / Dep. of Health Sciences and Technology::03654 - Riener, Robert / Riener, Robert
en_US
ethz.leitzahl.certified
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02070 - Dep. Gesundheitswiss. und Technologie / Dep. of Health Sciences and Technology::03654 - Riener, Robert / Riener, Robert
en_US
ethz.date.deposited
2017-12-30T15:55:02Z
ethz.source
FORM
ethz.eth
yes
en_US
ethz.availability
Open access
en_US
ethz.rosetta.installDate
2018-10-18T08:01:04Z
ethz.rosetta.lastUpdated
2018-10-31T08:54:05Z
ethz.rosetta.exportRequired
false
ethz.rosetta.versionExported
true
ethz.COinS
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