Force Feedback and Sensory Substitution for Robot-Assisted Surgery

Okamura, Allison M.; Verner, Lawton N.; Yamamoto, Takakazu; Gwilliam, James C.; Griffiths, Paul G.

doi:10.1007/978-1-4419-1126-1_18

Cited by 30 publications

(25 citation statements)

References 39 publications

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“…The final FBG locations (10, 11, 12) are used for force sensing. When the needle is modeled as a cantilever beam, the moment at the free end is zero.…”

Section: Methodsmentioning

confidence: 99%

Detection of membrane puncture with haptic feedback using a tip-force sensing needle

Elayaperumal

Bae

Daniel

et al. 2014

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

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This paper presents calibration and user test results of a 3-D tip-force sensing needle with haptic feedback. The needle is a modified MRI-compatible biopsy needle with embedded fiber Bragg grating (FBG) sensors for strain detection. After calibration, the needle is interrogated at 2 kHz, and dynamic forces are displayed remotely with a voice coil actuator. The needle is tested in a single-axis master/slave system, with the voice coil haptic display at the master, and the needle at the slave end. Tissue phantoms with embedded membranes were used to determine the ability of the tip-force sensors to provide real-time haptic feedback as compared to external sensors at the needle base during needle insertion via the master/slave system. Subjects were able to determine the position of the embedded membranes with significantly better accuracy using FBG tip feedback than with base feedback using a commercial force/torque sensor (p = 0.045) or with no added haptic feedback (p = 0.0024).

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“…The final FBG locations (10, 11, 12) are used for force sensing. When the needle is modeled as a cantilever beam, the moment at the free end is zero.…”

Section: Methodsmentioning

confidence: 99%

Detection of membrane puncture with haptic feedback using a tip-force sensing needle

Elayaperumal

Bae

Daniel

et al. 2014

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…Following these investigations, it was Massimino who carried out more detailed and conclusive experiments which proved the viability of sensory substitution for force feedback in a wide range of circumstances [39], [26], [40]. Today, the most popular forms of sensory substitution for force feedback occur through visual, vibrotactile, and to a lesser extent auditory stimuli [31], [41], [42], [43].…”

Section: Coginfocom For Haptic Feedbackmentioning

confidence: 99%

An application-oriented review of CogInfoCom: The state-of-the-art and future perspectives

Csapó

Bárányi

2012

2012 IEEE 10th International Symposium on Applied Machine Intelligence and Informatics (SAMI)

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Cognitive Infocommunications (CogInfoCom) is an emerging discipline that investigates synergies between infocommunications and the cognitive sciences, with the goal of creating engineering applications in which systems with various levels of cognitive capability are enabled to work together more effectively. While infocommunications deals with the error-free encoding, transmission and decoding of raw data, CogInfoCom aims to transmit information at a higher, conceptual level in a way that appeals to the receiver's cognitive capabilities. Thus, CogInfoCom may have implications for a wide variety of fields in the future, including virtual reality, 3D Internet and Internet of Things. In this paper, we provide a brief, application-oriented overview of the existing background of CogInfoCom, and outline future perspectives for the field.

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“…One approach for providing surgical assistance (handling human error) is by providing haptic feedback, an ongoing topic of research [11]. Haptics is used to provide the surgeon with an indication when excessive forces are applied.…”

Section: Surgical Assistance Backgroundmentioning

confidence: 99%

A predictive model for haptic assistance in robot assisted trocar insertion

Chowriappa

Wirz

Seo

et al. 2013

2013 World Haptics Conference (WHC)

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In this work we propose a new Prediction from Expert Demonstration (PED) methodology to provide haptic assistance in robot assisted trocar surgery. Data was collected from expert (clinician) demonstrations for the procedure of trocar insertion. We encode a set of force, torque and penetration trajectories by using a Gaussian Mixture Model (GMM). A generalization of these profiles and associated parameters are retrieved by Gaussian Mixture Regression (GMR). A haptic assistance mode was devised to help novices perform the procedure based on the proposed PED model. We validated the methodology for surgical assistance on (n=15) participants. The PED haptic model was tested for instrument deviation, penetration force and penetration depth. Preliminary study results showed that participants with PED haptic assistance performed the task with more consistency and exerted lesser penetration force than subjects without assistance.

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Force Feedback and Sensory Substitution for Robot-Assisted Surgery

Cited by 30 publications

References 39 publications

Detection of membrane puncture with haptic feedback using a tip-force sensing needle

Detection of membrane puncture with haptic feedback using a tip-force sensing needle

An application-oriented review of CogInfoCom: The state-of-the-art and future perspectives

A predictive model for haptic assistance in robot assisted trocar insertion

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