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Hamlyn CRM: a compact master manipulator for surgical robot remote control
Dandan Zhang1, Jindong Liu2,3, Lin Zhang2,3
1The Hamlyn Centre for Robotic Surgery, Imperial College London, London, SW7 2AZ, UK. d.zhang17@imperial.ac.uk.
International Journal of Computer Assisted Radiology and Surgery
|January 21, 2020
Summary
The Hamlyn Compact Robotic Master (CRM) offers precise motion tracking for surgical training and robot-assisted surgery. This compact device shows potential for enhancing surgical skills and remote robotic procedures.
Area of Science:
- Robotics in Surgery
- Surgical Simulation
- Human-Computer Interaction
Background:
- Compact master manipulators offer advantages in surgical training and general robotic surgery.
- The Hamlyn Compact Robotic Master (CRM) was developed to evaluate these benefits.
Purpose of the Study:
- To assess the advantages of compact master manipulators for surgical skills training.
- To evaluate the performance of the Hamlyn CRM in general robot-assisted surgical tasks.
Main Methods:
- A novel compact master manipulator with a multi-sensor fusion system for precise motion tracking was designed.
- User studies were conducted using ring transfer and needle passing tasks to determine optimal mapping strategies.
- Usability was verified using the da Vinci Research Kit (dVRK).
Main Results:
- Motion tracking experiments confirmed precise operator hand motion tracking.
- User studies identified a suitable mapping strategy (position relative, orientation absolute) for Robot-Assisted Minimally Invasive Surgery (RAMIS).
Conclusions:
- The Hamlyn CRM functions effectively as a compact master manipulator for surgical training.
- The device demonstrates potential for broader applications in RAMIS.
