During suturing tasks performed with minimally invasive surgical robots, configuration singularities and
joint limits often force surgeons to interrupt the task and re-grasp the needle using dual-arm
movements. This yields an increased operator's cognitive load, time-to-completion and performance
degradation. In this paper, we propose a haptic-guided shared control method for grasping the needle
with the Patient Side Manipulator (PSM) of the da Vinci robot avoiding such issues. We suggest a cost
function consisting of (i) the distance from robot joint limits and (ii) the task-oriented
manipulability along the suturing trajectory. Evaluating the cost and its gradient on the needle
grasping manifold allows us to obtain the optimal grasping pose for joint-limit and singularity free
robot movements during suturing. We compute force cues and display them through the Master Tool
Manipulator (MTM) to guide the surgeon towards the optimal grasp. As such, our system helps the operator
to choose a grasping configuration that allows the robot to avoid joint limits and singularities during
post-grasp suturing movements. We show the effectiveness of the proposed haptic-guided shared control
method during suturing using both simulated and real experiments. The results illustrate that our
approach significantly improves the performance in terms of needle re-grasping.
Ghalamzan et al. 2019
We have worked on Haptic-guided teleoperation across Surgical Robotic and
(Nuclear) Waste Sort & Segregation domains. There are a series of works that shares technologies
across
these two domains, but only demonstrated in (Nuclear) Waste Sort & Segregation.
Below, you can see some of them:
Parsa et al. 2022, 'The impact of motion scaling and haptic guidance on operator's workload', 2022 The ACM
Conference on Human Factors
in Computing Systems (CHI)-- ACM CHI is the premier international conference of Human-Computer
Interaction (HCI).
Parsa et al. 2020, 'Haptic guided shared control grasping: collision free manipulation', IEEE CASE 2020 --
Best Paper Award
Finalist
Ghalamzan et al. 2017, 'Human-In-The-Loop Optimisation: Mixed-Initiative Grasping for Optimally Facilitating
Post-Grasp
Manipulative Actions' Amir Masoud Ghalamzan Esfahani, Firas Abi-Farraj, Paolo Robuffo Giordano, Rustam
Stolkin, IEEE IROS 2017
List of works published by IML members during their work
here.
@inproceedings{Parsal2022,
title={The Impact of Motion Scaling and Haptic Guidance on Operators’ Workload and Performance in Teleoperation},
author=Parsa, Soran and Maior, Horia and Thumwood, Alex and Wilson, Max and Ghalamzan E., Amir,
booktitle=CHI Conference on Human Factors in Computing Systems,
year={2022},
url={https://arxiv.org/pdf/2202.09265.pdf}
}
@inproceedings{Parsa2020,
doi = {10.1109/case48305.2020.9216789},
url = {https://doi.org/10.1109/case48305.2020.9216789},
year = {2020},
month = aug,
publisher = {{IEEE}},
author = {Soran Parsa and Disha Kamale and Sariah Mghames and Kiyanoush Nazari and Tommaso Pardi and Aravinda R. Srinivasan and Gerhard Neumann and Marc Hanheide and Ghalamzan E. Amir},
title = {Haptic-guided shared control grasping: collision-free manipulation},
booktitle = {2020 {IEEE} 16th International Conference on Automation Science and Engineering ({CASE})}
}
@inproceedings{Selvaggio2019,
doi = {10.1109/iros40897.2019.8968109},
url = {https://doi.org/10.1109/iros40897.2019.8968109},
year = {2019},
month = nov,
publisher = {{IEEE}},
author = {Mario Selvaggio and Amir M. Ghalamzan E and Rocco Moccia and Fanny Ficuciello and Bruno Siciliano},
title = {Haptic-guided shared control for needle grasping optimization in minimally invasive robotic surgery},
booktitle = {2019 {IEEE}/{RSJ} International Conference on Intelligent Robots and Systems ({IROS})}
}
@article{GhalamzanE2018,
doi = {10.1016/j.robot.2017.12.001},
url = {https://doi.org/10.1016/j.robot.2017.12.001},
year = {2018},
month = mar,
publisher = {Elsevier {BV}},
volume = {101},
pages = {45--56},
author = {Amir M. Ghalamzan E. and Matteo Ragaglia},
title = {Robot learning from demonstrations: Emulation learning in environments with moving obstacles},
journal = {Robotics and Autonomous Systems}
}
@inproceedings{Ghalamzan2017,
doi = {10.1109/iros.2017.8206178},
url = {https://doi.org/10.1109/iros.2017.8206178},
year = {2017},
month = sep,
publisher = {{IEEE}},
author = {E. Amir M. Ghalamzan and Firas Abi-Farraj and Paolo Robuffo Giordano and Rustam Stolkin},
title = {Human-in-the-loop optimisation: Mixed initiative grasping for optimally facilitating post-grasp manipulative actions},
booktitle = {2017 {IEEE}/{RSJ} International Conference on Intelligent Robots and Systems ({IROS})}
}
@inproceedings{Talha2016,
doi = {10.1109/ssrr.2016.7784294},
url = {https://doi.org/10.1109/ssrr.2016.7784294},
year = {2016},
month = oct,
publisher = {{IEEE}},
author = {M. Talha and E. A. M. Ghalamzan and C. Takahashi and J. Kuo and W. Ingamells and R. Stolkin},
title = {Towards robotic decommissioning of legacy nuclear plant: Results of human-factors experiments with tele-robotic manipulation, and a discussion of challenges and approaches for decommissioning},
booktitle = {2016 {IEEE} International Symposium on Safety, Security, and Rescue Robotics ({SSRR})}
}
@inproceedings{GhalamzanE2015,
doi = {10.1109/icra.2015.7139467},
url = {https://doi.org/10.1109/icra.2015.7139467},
year = {2015},
month = may,
publisher = {{IEEE}},
author = {Amir M. Ghalamzan E. and Luca Bascetta and Marcello Restelli and Paolo Rocco},
title = {Estimating a Mean-Path from a set of 2-D curves},
booktitle = {2015 {IEEE} International Conference on Robotics and Automation ({ICRA})}
}
@inproceedings{GhalamzanE2015,
doi = {10.1109/icra.2015.7139985},
url = {https://doi.org/10.1109/icra.2015.7139985},
year = {2015},
month = may,
publisher = {{IEEE}},
author = {Amir M. Ghalamzan E and Chris Paxton and Gregory D. Hager and Luca Bascetta},
title = {An incremental approach to learning generalizable robot tasks from human demonstration},
booktitle = {2015 {IEEE} International Conference on Robotics and Automation ({ICRA})}
}
@article{GhalamzanE2021,
doi = {10.1016/j.simpa.2021.100087},
url = {https://doi.org/10.1016/j.simpa.2021.100087},
year = {2021},
month = aug,
publisher = {Elsevier {BV}},
volume = {9},
pages = {100087},
author = {Amir Ghalamzan E. and Kiyanoush Nazari and Hamidreza Hashempour and Fangxun Zhong},
title = {Deep-{LfD}: Deep robot learning from demonstrations},
journal = {Software Impacts}
}
2015
2016
2017
2018
2019
2020
2021
2022
Conference
Journal
Year
Type
Publication
2022
Conference
Soran Parsa, Horia Maior, Alex Thumwood, Max Wilson, Amir Ghalamzan E. (2022). The Impact of Motion Scaling and Haptic Guidance on Operators’ Workload and Performance in Teleoperation. In CHI Conference on Human Factors in Computing Systems. (pdf) (bib)
@inproceedings{Parsal2022,
url = { https://arxiv.org/pdf/2202.09265.pdf },
year = { 2022 },
booktitle = { CHI Conference on Human Factors in Computing Systems },
author = { Parsa and Maior and Thumwood and Wilson and Ghalamzan E. },
title = { The Impact of Motion Scaling and Haptic Guidance on Operators’ Workload and Performance in Teleoperation },
}
2021
Journal
Amir Ghalamzan E., Kiyanoush Nazari, Hamidreza Hashempour, Fangxun Zhong (2021). Deep-LfD: Deep robot learning from demonstrations. Software Impacts, 9, pp. 100087 (link) (bib)
@article{GhalamzanE2021,
journal = { Software Impacts },
title = { Deep-{LfD}: Deep robot learning from demonstrations },
author = { Amir Ghalamzan E. and Kiyanoush Nazari and Hamidreza Hashempour and Fangxun Zhong },
pages = { 100087 },
volume = { 9 },
publisher = { Elsevier {BV} },
month = { aug },
year = { 2021 },
url = { https://doi.org/10.1016/j.simpa.2021.100087 },
doi = { 10.1016/j.simpa.2021.100087 },
}
2020
Conference
Soran Parsa et al. (2020). Haptic-guided shared control grasping: collision-free manipulation. In 2020 IEEE 16th International Conference on Automation Science and Engineering (CASE). (link) (bib)
@inproceedings{Parsa2020,
booktitle = { 2020 {IEEE} 16th International Conference on Automation Science and Engineering ({CASE}) },
title = { Haptic-guided shared control grasping: collision-free manipulation },
author = { Soran Parsa and Disha Kamale and Sariah Mghames and Kiyanoush Nazari and Tommaso Pardi and Aravinda R. Srinivasan and Gerhard Neumann and Marc Hanheide and Ghalamzan E. Amir },
publisher = { IEEE },
month = { aug },
year = { 2020 },
url = { https://doi.org/10.1109/case48305.2020.9216789 },
doi = { 10.1109/case48305.2020.9216789 },
}
2019
Conference
Mario Selvaggio, Amir M. Ghalamzan E, Rocco Moccia, Fanny Ficuciello, Bruno Siciliano (2019). Haptic-guided shared control for needle grasping optimization in minimally invasive robotic surgery. In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). (link) (bib)
@inproceedings{Selvaggio2019,
booktitle = { 2019 {IEEE}/{RSJ} International Conference on Intelligent Robots and Systems ({IROS}) },
title = { Haptic-guided shared control for needle grasping optimization in minimally invasive robotic surgery },
author = { Mario Selvaggio and Amir M. Ghalamzan E and Rocco Moccia and Fanny Ficuciello and Bruno Siciliano },
publisher = { IEEE },
month = { nov },
year = { 2019 },
url = { https://doi.org/10.1109/iros40897.2019.8968109 },
doi = { 10.1109/iros40897.2019.8968109 },
}
2018
Journal
Amir M. Ghalamzan E., Matteo Ragaglia (2018). Robot learning from demonstrations: Emulation learning in environments with moving obstacles. Robotics and Autonomous Systems, 101, pp. 45–56 (link) (bib)
@article{GhalamzanE2018,
journal = { Robotics and Autonomous Systems },
title = { Robot learning from demonstrations: Emulation learning in environments with moving obstacles },
author = { Amir M. Ghalamzan E. and Matteo Ragaglia },
pages = { 45--56 },
volume = { 101 },
publisher = { Elsevier {BV} },
month = { mar },
year = { 2018 },
url = { https://doi.org/10.1016/j.robot.2017.12.001 },
doi = { 10.1016/j.robot.2017.12.001 },
}
2017
Conference
E. Amir M. Ghalamzan, Firas Abi-Farraj, Paolo Robuffo Giordano, Rustam Stolkin (2017). Human-in-the-loop optimisation: Mixed initiative grasping for optimally facilitating post-grasp manipulative actions. In 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). (link) (bib)
@inproceedings{Ghalamzan2017,
booktitle = { 2017 {IEEE}/{RSJ} International Conference on Intelligent Robots and Systems ({IROS}) },
title = { Human-in-the-loop optimisation: Mixed initiative grasping for optimally facilitating post-grasp manipulative actions },
author = { E. Amir M. Ghalamzan and Firas Abi-Farraj and Paolo Robuffo Giordano and Rustam Stolkin },
publisher = { IEEE },
month = { sep },
year = { 2017 },
url = { https://doi.org/10.1109/iros.2017.8206178 },
doi = { 10.1109/iros.2017.8206178 },
}
2016
Conference
M. Talha, E. A. M. Ghalamzan, C. Takahashi, J. Kuo, W. Ingamells, R. Stolkin (2016). Towards robotic decommissioning of legacy nuclear plant: Results of human-factors experiments with tele-robotic manipulation, and a discussion of challenges and approaches for decommissioning. In 2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR). (link) (bib)
@inproceedings{Talha2016,
booktitle = { 2016 {IEEE} International Symposium on Safety, Security, and Rescue Robotics ({SSRR}) },
title = { Towards robotic decommissioning of legacy nuclear plant: Results of human-factors experiments with tele-robotic manipulation, and a discussion of challenges and approaches for decommissioning },
author = { M. Talha and E. A. M. Ghalamzan and C. Takahashi and J. Kuo and W. Ingamells and R. Stolkin },
publisher = { IEEE },
month = { oct },
year = { 2016 },
url = { https://doi.org/10.1109/ssrr.2016.7784294 },
doi = { 10.1109/ssrr.2016.7784294 },
}
2015
Conference
Amir M. Ghalamzan E, Chris Paxton, Gregory D. Hager, Luca Bascetta (2015). An incremental approach to learning generalizable robot tasks from human demonstration. In 2015 IEEE International Conference on Robotics and Automation (ICRA). (link) (bib)
@inproceedings{GhalamzanE2015,
booktitle = { 2015 {IEEE} International Conference on Robotics and Automation ({ICRA}) },
title = { An incremental approach to learning generalizable robot tasks from human demonstration },
author = { Amir M. Ghalamzan E and Chris Paxton and Gregory D. Hager and Luca Bascetta },
publisher = { IEEE },
month = { may },
year = { 2015 },
url = { https://doi.org/10.1109/icra.2015.7139985 },
doi = { 10.1109/icra.2015.7139985 },
}
2015
Conference
Amir M. Ghalamzan E., Luca Bascetta, Marcello Restelli, Paolo Rocco (2015). Estimating a Mean-Path from a set of 2-D curves. In 2015 IEEE International Conference on Robotics and Automation (ICRA). (link) (bib)
@inproceedings{GhalamzanE2015,
booktitle = { 2015 {IEEE} International Conference on Robotics and Automation ({ICRA}) },
title = { Estimating a Mean-Path from a set of 2-D curves },
author = { Amir M. Ghalamzan E. and Luca Bascetta and Marcello Restelli and Paolo Rocco },
publisher = { IEEE },
month = { may },
year = { 2015 },
url = { https://doi.org/10.1109/icra.2015.7139467 },
doi = { 10.1109/icra.2015.7139467 },
}
