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International Journal of Computer Assisted Radiology and Surgery
Published in: International Journal of Computer Assisted Radiology and Surgery 3/2020

Open Access 01-03-2020 | Original Article

Hamlyn CRM: a compact master manipulator for surgical robot remote control

Authors: Dandan Zhang, Jindong Liu, Lin Zhang, Guang-Zhong Yang

Published in: International Journal of Computer Assisted Radiology and Surgery | Issue 3/2020

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Abstract

Purpose

Compact master manipulators have inherent advantages, since they can have practical deployment within the general surgical environments easily and bring benefits to surgical training. To assess the advantages of compact master manipulators for surgical skills training and the performance of general robot-assisted surgical tasks, Hamlyn Compact Robotic Master (Hamlyn CRM) is built up and evaluated in this paper.

Methods

A compact structure for the master manipulator is proposed. A novel sensing system is designed while stable real-time motion tracking can be realized by fusing the information from multiple sensors. User studies were conducted based on a ring transfer task and a needle passing task to explore a suitable mapping strategy for the compact master manipulator to control a surgical robot remotely. The overall usability of the Hamlyn CRM is verified based on the da Vinci Research Kit (dVRK). The master manipulators of the dVRK control console are used as the reference

Results

Motion tracking experiments verified that the proposed system can track the operators’ hand motion precisely. As for the master–slave mapping strategy, user studies proved that the combination of the position relative mapping mode and the orientation absolute mapping mode is suitable for Robot-Assisted Minimally Invasive Surgery (RAMIS), while key parameters for mapping are selected.

Conclusion

Results indicated that the Hamlyn CRM can serve as a compact master manipulator for surgical training and has potential applications for RAMIS.
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Metadata
Title
Hamlyn CRM: a compact master manipulator for surgical robot remote control
Authors
Dandan Zhang
Jindong Liu
Lin Zhang
Guang-Zhong Yang
Publication date
01-03-2020
Publisher
Springer International Publishing
Published in
International Journal of Computer Assisted Radiology and Surgery / Issue 3/2020
Print ISSN: 1861-6410
Electronic ISSN: 1861-6429
DOI
https://doi.org/10.1007/s11548-019-02112-y

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