A multilateral manipulation software framework for human-robot collaboration in surgical tasks
Abstract/Contents
- Abstract
- In robot-assisted surgery, exploration and manipulation tasks can be achieved through collaboration among robotic and human agents. Collaboration can potentially include multiple agents working towards a shared objective -- a scenario referred to as multilateral manipulation. We present a flexible software framework, called the Multilateral Manipulation Software Framework (MMSF) to expedite development of various multilateral manipulation strategies. The goal of the MMSF to facilitate rapid development of human-robot collaborative models in a thread-safe manner. We demonstrate the effectiveness of implementing the MMSF in three mock surgical tasks: inclusion segmentation, debridement, and electrocauterization. We built autonomous agents capable of completing these tasks, and developed human-robot collaboration models using these autonomous agents. Example human-robot collaboration models tested in this work include (1) fully autonomous task execution, (2) shared control between a human and robotic agent, (3) supervised control where the operator dictates commands to the robot, (4) traded control between the two agents, and (5) bilateral teleoperation. For each of our three implemented surgical tasks, we demonstrate the nature of results achievable through use of the Multilateral Manipulation Software Framework by comparing the performance of different human-robot collaboration models. For the inclusion segmentation task, we conducted a user study where we compared the performance of different human-robot collaboration models against each other. This dissertation also describes implementations that allow the Multilateral Manipulation Software Framework to be used with Phantom Premium Haptic Devices, the RAVEN-II Surgical Robot, and the da Vinci Research Kit.
Description
| Type of resource | text |
|---|---|
| Form | electronic; electronic resource; remote |
| Extent | 1 online resource. |
| Publication date | 2015 |
| Issuance | monographic |
| Language | English |
Creators/Contributors
| Associated with | Nichols, Kirk |
|---|---|
| Associated with | Stanford University, Department of Mechanical Engineering. |
| Primary advisor | Okamura, Allison |
| Thesis advisor | Okamura, Allison |
| Thesis advisor | Cutkosky, Mark R |
| Thesis advisor | Gerdes, J. Christian |
| Advisor | Cutkosky, Mark R |
| Advisor | Gerdes, J. Christian |
Subjects
| Genre | Theses |
|---|
Bibliographic information
| Statement of responsibility | Kirk Nichols. |
|---|---|
| Note | Submitted to the Department of Mechanical Engineering. |
| Thesis | Thesis (Ph.D.)--Stanford University, 2015. |
| Location | electronic resource |
Access conditions
- Copyright
- © 2015 by Kirk Arthur Nichols
- License
- This work is licensed under a Creative Commons Attribution Non Commercial 3.0 Unported license (CC BY-NC).
Also listed in
Loading usage metrics...