Assistive Control through a Hapto-Visual Digital Twin for a Master Device Used for Didactic Telesurgery

This article explores the integration of a hapto-visual digital twin on a master device used for bilateral teleoperation. The device, known as a quasi-spherical parallel manipulator, is currently employed for the remote center of motion control in teleoperated mini-invasive surgery. After providing...

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Bibliographic Details
Published in:Robotics (Basel) 2024-09, Vol.13 (9), p.138
Main Authors: Pacheco Quiñones, Daniel, Maffiodo, Daniela, Laribi, Med Amine
Format: Article
Language:English
Subjects:
bilateral teleoperation
Control algorithms
Control systems
Design and construction
Didacticism
Digital twins
Digitization
Feedback
haptic feedback
Haptics
human–machine interaction
Kinematics
Manipulators
master devices
Methods
Motion control
parallel manipulators
Remote control
Robots
spherical manipulators
Technology application
Telemedicine
Telesurgery
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Summary:This article explores the integration of a hapto-visual digital twin on a master device used for bilateral teleoperation. The device, known as a quasi-spherical parallel manipulator, is currently employed for the remote center of motion control in teleoperated mini-invasive surgery. After providing detailed insights into the device’s kinematics, including its geometric configuration, Jacobian, and reachable workspace, the paper illustrates the overall control system, encompassing both hardware and software components. The article describes how a digital twin, which implements a haptic assistive control and a visually enhanced representation of the device, was integrated into the system. The digital twin was then tested with the device: in the experiments, one “student” end-user must follow a predefined “teacher” trajectory. Preliminary results demonstrate how the overall system can pose a good starting point for didactic telesurgery operation. The control action, yet to be optimized and tested on different subjects, indeed seems to grant satisfying performance and accuracy.
ISSN:2218-6581
2218-6581
DOI:10.3390/robotics13090138