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BY 4.0 license Open Access Published by De Gruyter November 26, 2020

Telemanipulation of an Articulated Robotic Arm using a Commercial Virtual Reality Controller

  • Max B. Schäfer EMAIL logo , Kent W. Stewart , Nico Lösch and Peter P. Pott

Abstract

Access to systems for robot-assisted surgery is limited due to high costs. To enable widespread use, numerous issues have to be addressed to improve and/or simplify their components. Current systems commonly use universal linkage-based input devices, and only a few applicationoriented and specialized designs are used. A versatile virtual reality controller is proposed as an alternative input device for the control of a seven degree of freedom articulated robotic arm. The real-time capabilities of the setup, replicating a system for robot-assisted teleoperated surgery, are investigated to assess suitability. Image-based assessment showed a considerable system latency of 81.7 ± 27.7 ms. However, due to its versatility, the virtual reality controller is a promising alternative to current input devices for research around medical telemanipulation systems.

Published Online: 2020-11-26
Published in Print: 2020-09-01

© 2020 by Walter de Gruyter Berlin/Boston

This work is licensed under the Creative Commons Attribution 4.0 International License.

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