A Remote Teleoperation of the da Vinci Surgical System for Hand Disabled

Yang, Kehan

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A Remote Teleoperation of the da Vinci Surgical System for Hand Disabled

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There is a large community of people with hand disabilities, and these disabilities can be a barrier to those looking to retain or pursue surgical careers. With the development of surgical robotics technologies, it may be possible to develop user interfaces to accommodate these individuals. This thesis proposes a hand-free remote control method for one patient side manipulator (PSM) in the da Vinci surgical system. The hand-free system is achieved using electromyography (EMG) signals controlling the grasping of the PSM gripper and motion capture (mocap) data controlling the position and orientation of the PSM gripper. The general controllability of the system is tested based on a simplified FLS (Fundamentals of Laparoscopic Surgery) peg transfer task. In addition, a proportional control method was tested on its ability to grasp a pressure sensor. These preliminary results demonstrate that the user can reliably control the moving and grasping motion of the da Vinci PSM using this system. There is a strong correlation between grasping force and normalized EMG signal (r= 0.874). Furthermore, based on statistical analysis of user study data, there is no significant difference in performance between using the proposed teleoperation approach and master tool manipulator (MTM) method. The results in this thesis demonstrates the system integration of a research EMG-mocap hybrid system with the da Vinci surgical system and are a step towards developing accessible teleoperation systems for surgeons with disabilities. In addition, this thesis also provides a new solution for human-robot interaction, as this remote teleoperation pipeline also suits healthy users. The proposed teleoperation method can be applied to other manipulators, mobile robots, and even human-computer interactions.

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