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Title: Design and evaluation of a foot-controlled robotic system for endoscopic surgery
Authors: Huang, Yanpei
Lai, Wenjie
Cao, Lin
Burdet, Etienne
Phee, Soo Jay
Keywords: Engineering::Computer science and engineering
Issue Date: 2020
Source: Huang, Y., Lai, W., Cao, L., Burdet, E. & Phee, S. J. (2020). Design and evaluation of a foot-controlled robotic system for endoscopic surgery. IEEE Robotics and Automation Letters, 6(2), 2469-2476.
Journal: IEEE Robotics and Automation Letters
Abstract: In traditional endoscopic surgery, the surgeon manipulating the endoscopic instruments is supported by an assistant controlling the endoscope, where their coordination may be affected by communication errors. To address this issue, we introduce a foot interface controlled robotic endoscopic system, enabling the surgeon to simultaneously operate the endoscope and instruments. The system consists of a foot interface using four degrees of freedom (DoFs) foot gestures and a robotic driving system for a commercial flexible endoscope. The proposed robotic system was validated in teleoperation experiments performed by ten subjects, where foot teleoperation was compared with hand teleoperation and direct control of the endoscope with two hands. The participants could successfully teleoperate the endoscope with foot teleoperation and exhibited 40% faster task completion as with direct control. They found both foot and hand teleoperations comfortable and intuitive. Although hand teleoperation enabled the best performance, only foot teleoperation allows simultaneous control of three instruments.
ISSN: 2377-3766
DOI: 10.1109/LRA.2021.3062009
Rights: © 2021 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. The published version is available at:
Fulltext Permission: open
Fulltext Availability: With Fulltext
Appears in Collections:MAE Journal Articles

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