ICRA 2011 Paper Abstract


Paper WeP207.3

Becker, Brian C. (Carnegie Mellon Unversity), MacLachlan, Robert (Carnegie Mellon University), Hager, Gregory (Johns Hopkins University), Riviere, Cameron (Carnegie Mellon University)

Handheld Micromanipulation with Vision-Based Virtual Fixtures

Scheduled for presentation during the Regular Sessions "Micro-Nano Robots and Applications to Life Science" (WeP207), Wednesday, May 11, 2011, 15:55−16:10, Room 5B

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 14, 2020

Keywords Micro/Nano Robots, Medical Robots and Systems, Visual Servoing


Precise movement during micromanipulation becomes difficult in submillimeter workspaces, largely due to the destabilizing influence of tremor. Robotic aid combined with filtering techniques that suppress tremor frequency bands increases performance; however, if knowledge of the operator's goals is available, virtual fixtures have been shown to greatly improve micromanipulator precision. In this paper, we derive a control law for position-based virtual fixtures within the framework of an active handheld micromanipulator, where the fixtures are generated in real-time from microscope video. Additionally, we develop motion scaling behavior centered on virtual fixtures as a simple and direct extension to our formulation. We demonstrate that hard and soft (motion-scaled) virtual fixtures outperform state-of-the-art tremor cancellation performance on a set of artificial but medically relevant tasks: holding, move-and-hold, curve tracing, and volume restriction.



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