Application of Haptic Feedback to Robotic Surgery

Bethea, Brian; Okamura, Allison M.; Kitagawa, Masaya; Fitton, Torin P.; Cattaneo, Stephen M.; Gott, Vincent L.; Baumgartner, William A.; Yuh, David D.

doi:10.1089/1092642041255441

Cited by 219 publications

(112 citation statements)

References 9 publications

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“…Force feedback or touch sensation is limited in the currently available MIS tools, thus creating in most cases the potential for excessive force application during surgery and unintended tissue injury [3,19,26]. The risk of complications due to traumatization of soft tissues while trying to securely grip them is still an unresolved issue using conventional instruments, often characterized by sharp edges and no compliant properties.…”

Section: Introductionmentioning

confidence: 99%

Design and development of a soft robotic gripper for manipulation in minimally invasive surgery: a proof of concept

et al. 2015

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This paper proposes the use of soft materials for building robotic grippers for delicate and safe interactions. The work includes concept design, fabrication and first assessment and characterization of the proposed soft gripper, a novel robotic end-effector entirely made up of elastomeric material. As a significant case study, it has been specifically adapted as a grasping tool in Minimally Invasive Surgery, but its design has been conceived in such a way that its dimension can be easily scaled, to find application in all those fields where a safe interaction with fragile items or human co-workers is needed. Moreover, the process is flexible for including further features to enrich its behaviour.

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Section: Introductionmentioning

confidence: 99%

Design and development of a soft robotic gripper for manipulation in minimally invasive surgery: a proof of concept

et al. 2015

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“…Although force at the tool tip cannot be sensed by the operator in the current commercial da Vinci ® device, experimental systems have been tested that translate these forces into visual cues [2] as well as into vibrotactile feedback to the operators fingers [3].…”

Section: Introductionmentioning

confidence: 99%

Hand-Held Force Magnifier for Surgical Instruments

Stetten

Klatzky

et al. 2011

Information Processing in Computer-Assisted Interventions

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Abstract. We present a novel and relatively simple method for magnifying forces perceived by an operator using a tool. A sensor measures the force between the tip of a tool and its handle held by the operator's fingers. These measurements are used to create a proportionally greater force between the handle and a brace attached to the operator's hand, providing an enhanced perception of forces between the tip of the tool and a target. We have designed and tested a prototype that is completely hand-held and thus can be easily manipulated to a wide variety of locations and orientations. Preliminary psychophysical evaluation demonstrates that the device improves the ability to detect and differentiate between small forces at the tip of the tool. Magnifying forces in this manner may provide an improved ability to perform delicate surgical procedures, while preserving the flexibility of a hand-held instrument.

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“…This telemanipulated technology is available for a minimal part of heart surgical patients only since the technical inconvenience of the system and the clumsy system is considerably limited in valve surgery, congenital heart surgery and a bigger part of bypass surgery. The necessity of haptic feedback is discussed controversially by robotically working surgeons and haptic engineers (Bethea et al, 2004;Fager, 2004;Hu et al, 2004). The postulate, that the integration of a supplementary haptic channel in addition to the visual channel improves the quality of surgical work and enhances the immersion for the surgeon in a remote system, is not yet demonstrated and evidenced.…”

Section: Introductionmentioning

confidence: 99%