Details

Autor(en) / Beteiligte

• Nisky, Ilana
• Costi, Leone
• Iida, Fumiya

Titel

Coevolution of internal representations in physical human-robot orchestration – models of the surgeon and the robot in robotic surgery

Ist Teil von

• IOP conference series. Materials Science and Engineering, 2022-10, Vol.1261 (1), p.12014

Ort / Verlag

Bristol: IOP Publishing

Erscheinungsjahr

2022

Link zum Volltext

Quelle

Elektronische Zeitschriftenbibliothek - Frei zugängliche E-Journals

Beschreibungen/Notizen

• Abstract In teleoperated Robot-Assisted Minimally-Invasive Surgery (RAMIS), a surgeon controls the movements of instruments inside the patient’s body via a pair of robotic joysticks. RAMIS has transformed many surgical disciplines, but its full potential is still to be realized. In this chapter we propose a pathway towards overcoming several bottlenecks that are related to transparency and stability of the teleoperation channels that mediate RAMIS. We describe the traditional system centered and the more recent human-centred approaches to teleoperation, and the special considerations for RAMIS as an application of teleoperation. However, the human-centered approach is still one sided view focusing on the surgeon but neglecting the learning capabilities of robotic systems. Hence, we consider a more general idea of physical human-robot orchestration with coevolution of mutual internal representations – of the human and the robot, and discuss it in comparison to human-human collaboration over teleoperated channels.