A Handheld Master Controller for Robot-Assisted Microsurgery
Dandan Zhang, Yao Guo, Junhong Chen, Jindong Liu, Guang-Zhong Yang
Abstract
Accurate master-slave control is important for Robot-Assisted Microsurgery (RAMS). This paper presents a handheld master controller for the operation and training of RAMS. A 9-axis Inertial Measure Unit (IMU) and a micro camera are utilized to form the sensing system for the handheld controller. A new hybrid marker pattern is designed to achieve reliable visual tracking, which integrated QR codes, Aruco markers, and chessboard vertices. Real-time multi-sensor fusion is implemented to further improve the tracking accuracy. The proposed handheld controller has been verified on an in-house microsurgical robot to assess its usability and robustness. User studies were conducted based on a trajectory following task, which indicated that the proposed handheld controller had comparable performance with the Phantom Omni, demonstrating its potential applications in microsurgical robot control and training.
BibTeX
@inproceedings{iros2019_ahandheldmasterc,
title = {A Handheld Master Controller for Robot-Assisted Microsurgery},
author = {Dandan Zhang and Yao Guo and Junhong Chen and Jindong Liu and Guang-Zhong Yang},
booktitle = {IROS 2019},
year = {2019}
}