Force-Feedback Surgical Teleoperator: Controller Design and Palpation Experiments

Mahvash, Mohsen; Gwilliam, James C.; Agarwal, Rahul; Vágvölgyi, Balázs; Su, Li-Ming; Yuh, David D.; Okamura, Allison M.

doi:10.1109/haptics.2008.4479994

Cited by 66 publications

(39 citation statements)

References 16 publications

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“…Many experts believe that high-quality haptic feedback (forces and/or tactile sensations) will help surgeons quickly learn and adeptly perform robot-assisted minimally invasive procedures, e.g., [4,10,15,16]; however, the best method for providing this feedback remains unclear due to the wide variety of approaches being explored and the disparate requirements of the surgical tasks being studied. Furthermore, there are many technical challenges associated with adding haptic feedback to telerobotic MIS.…”

Section: Prior Approachesmentioning

confidence: 99%

VerroTouch: High-Frequency Acceleration Feedback for Telerobotic Surgery

Kuchenbecker

Gewirtz

McMahan

et al. 2010

Lecture Notes in Computer Science

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Abstract. The Intuitive da Vinci system enables surgeons to see and manipulate structures deep within the body via tiny incisions. Though the robotic tools mimic one's hand motions, surgeons cannot feel what the tools are touching, a striking contrast to non-robotic techniques. We have developed a new method for partially restoring this lost sense of touch. Our VerroTouch system measures the vibrations caused by tool contact and immediately recreates them on the master handles for the surgeon to feel. This augmentation enables the surgeon to feel the texture of rough surfaces, the start and end of contact with manipulated objects, and other important tactile events. While it does not provide low frequency forces, we believe vibrotactile feedback will be highly useful for surgical task execution, a hypothesis we we will test in future work.

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Section: Prior Approachesmentioning

confidence: 99%

VerroTouch: High-Frequency Acceleration Feedback for Telerobotic Surgery

Kuchenbecker

Gewirtz

McMahan

et al. 2010

Lecture Notes in Computer Science

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“…epidural anesthesia, brain biopsy, electrode placement for deep brain stimulation) the surgeon cannot see the path of the needle inside the tissue and thus must rely on his limited sense of touch or on a pre-planned path based on preoperative medical images. Enhancing the perception of the force at the needle/tissue interface could drastically increase the success of needle-based procedures [2]- [4]. The choice of which interaction force is displayed to the operator may have a significant impact on performance.…”

Section: Introductionmentioning

confidence: 99%

Experimental evaluation of a coaxial needle insertion assistant with enhanced force feedback

Lorenzo

Koseki

Momi³

et al. 2011

2011 Annual International Conference of the IEEE Engineering in Medicine and Biology Society

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Abstract-During needle insertion in soft tissue, detection of change in tissue properties is important both for diagnosis to detect pathological tissue and for prevention to avoid puncture of important structures. The presence of a membrane located deep inside the tissue results in a relatively small force variation at the needle tip that can be masked by relatively large friction force between the needle shaft and the surrounding tissue. Also, user perception of force can be limited due to the overall small force amplitude in some applications (e.g. brain surgery).A novel robotic coaxial needle insertion assistant was developed to enhance operator force perception. The coaxial needle separates the cutting force at the needle tip from shear friction on the needle shaft. The assistant is force controlled (admittance control), providing the operator with force feedback that is a scaled version of the force applied by the needle tip to the tissue. The effectiveness of the assistant in enhancing the detection of different tissue types was tested experimentally. Users were asked to blindly insert a needle into artificial tissues with membranes at various depths under two force feedback conditions: (1) shaft and tip force together, and (2) only tip force. The ratio of successful to unsuccessful membrane detection was significantly higher when only the needle tip force is displayed to the user. The system proved to be compliant with the clinical applications requirements.

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“…One study found that incorporating force feedback into surgical simulators enhanced the users performance during more complicated tasks [6]. Other studies have found incorporating force feedback minimizes * jrcoope4@mail.usf.edu † mwernke@mail.usf.edu ‡ kylereed@usf.edu error over graphical force feedback or no force feedback during a palpation task [7]. As these systems develop, the possibilities grow.…”

Section: Introductionmentioning

confidence: 99%

The effects of incongruent feedback on bimanual task performance

Cooper

Wernke

Reed

2012

2012 IEEE Haptics Symposium (HAPTICS)

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Previous studies analyzing the effects of incongruent visual and haptic feedback have found differences in the perceived stiffness of an object depending on what modality was delayed. These studies required only unilateral performance of the individual and did not measure functional task completion. Our study evaluated the effects of incongruent visual and haptic feedback during a bimanual pick and place task within a virtual environment using two Phantom Omnis. Subjects were asked to place three different colored spheres into matching colored baskets under various testing conditions. The testing conditions included various temporal delays in either the haptic feedback, visual feedback or both feedback modalities simultaneously. The amount of time required to complete the task as well as the number of spheres broken were recorded for each trial. The results show that delays in either or both of the feedback modalities had a negative effect on the subject's ability to complete the task. The most detrimental effects on task performance were observed when both feedback modalities were simultaneously delayed 133 ms for both the completion time and number of broken spheres.

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Force-Feedback Surgical Teleoperator: Controller Design and Palpation Experiments

Cited by 66 publications

References 16 publications

VerroTouch: High-Frequency Acceleration Feedback for Telerobotic Surgery

VerroTouch: High-Frequency Acceleration Feedback for Telerobotic Surgery

Experimental evaluation of a coaxial needle insertion assistant with enhanced force feedback

The effects of incongruent feedback on bimanual task performance

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