Hand-Held Force Magnifier for Surgical Instruments

Stetten, George; Wu, Bing; Klatzky, Roberta L.; Galeotti, John; Siegel, Mel; Lee, Randy; Mah, Francis S.; Eller, Andrew W.; Schuman, Joel S.; Hollis, R.L.

doi:10.1007/978-3-642-21504-9_9

Cited by 27 publications

(29 citation statements)

References 10 publications

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“…The approaches have demonstrated an increase in user sensitivity to tool-tip forces. Stetten et al proposed a method for amplitude forces perceived by an operator using a tool [103]. A sensor measures the force between the tip of a tool and its handle part by the operator's fingers.…”

Section: Haptic Feedback and Tactile Sensing Systemmentioning

confidence: 99%

Endomicroscopy for Computer and Robot Assisted Intervention

Zuo

Yang

2017

IEEE Rev. Biomed. Eng.

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Abstract-Endomicroscopy is a new technique that allows human tissue to be characterized in vivo, and in situ, circumventing the need for conventional biopsy and histology. Despite increased application and growing research interests in this area, the clinical application of endomicroscopy, however, is limited by difficulties in ergonomic control, consistent probe-tissue contact, large area surveillance and retargeting. Recently, advances in high-speed imaging, mosaicing and robotics have aimed to address these difficulties. The development of robot-assisted devices in particular has shown great promises in extending the clinical potential of endomicroscopy. Issues related to miniaturization, adaptation to tissue deformation, control stability, force and position compensation, cost and sterility are being pursued by both research and commercial communities. In this paper, recent clinical and technical developments in different aspects of computer and robotic assisted endomicroscopy interventions including instrumentation, multiscale integration, and high-speed imaging techniques are presented. We further address emerging trends and new research opportunities towards more widespread clinical acceptance of robotically assisted endomicroscopy technologies.

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Section: Haptic Feedback and Tactile Sensing Systemmentioning

confidence: 99%

Endomicroscopy for Computer and Robot Assisted Intervention

Zuo

Yang

2017

IEEE Rev. Biomed. Eng.

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“…A new approach was presented by Zahraee et al [2010], who studied the kinematics of the end effector in a robotic hand-held surgical device for laparoscopic interventions to improve the surgeon's dexterity. Stetten et al [2011] presented a method for magnifying forces perceived by an operator using a tool to create a proportionally greater force between the handle and a brace attached to the operator's hand.…”

Section: Related Workmentioning

confidence: 99%

The Hybrid Artisans

Zoran

Shilkrot

Nanyakkara

et al. 2014

ACM Trans. Comput.-Hum. Interact.

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We present an approach to combining digital fabrication and craft, demonstrating a hybrid interaction paradigm where human and machine work in synergy. The FreeD is a hand-held digital milling device, monitored by a computer while preserving the makers freedom to manipulate the work in many creative ways. Relying on a pre-designed 3D model, the computer gets into action only when the milling bit risks the objects integrity, preventing damage by slowing down the spindle speed, while the rest of the time it allows complete gestural freedom. We present the technology and explore several interaction methodologies for carving. In addition, we present a user study that reveals how synergetic cooperation between human and machine preserves the expressiveness of manual practice. This quality of the hybrid territory evolves into design personalization. We conclude on the creative potential of open-ended procedures within this hybrid interactive territory of manual smart tools and devices.

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“…For example, in retinal microsurgery, forces imposed on the surgical instrument are generally weaker than 7.5 mN and can be felt by the surgeon only about 20% of the time (Gupta, Jensen, & Juan, 1999). Considerable engineering effort has been devoted to developing devices to augment forces at such low levels in an attempt to enhance the sensation of touch, particularly for use in microsurgery (Fleming et al, 2008; Salcudean & Yan, 1994; Stetten et al, 2011; Yao, Hayward, & Ellis, 2005). In contrast, far less has been done to characterize the behavioral outcomes of these systems: How well can the perception of small forces be augmented for the operator, and how effectively can this augmentation be put into use?…”

Section: Introductionmentioning

confidence: 99%

“…In contrast, far less has been done to characterize the behavioral outcomes of these systems: How well can the perception of small forces be augmented for the operator, and how effectively can this augmentation be put into use? In this study, using a novel handheld force magnification device (Stetten et al, 2011) as an exemplar haptic AR, we assessed the impact of augmentation on the detection and discrimination of force over a range of stimulation, and also on the perception of stiffness.…”

Section: Introductionmentioning

confidence: 99%

Psychophysical Evaluation of Haptic Perception Under Augmentation by a Handheld Device

Klatzky

Lee

et al. 2014

Hum Factors

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Objective This study investigated the effectiveness of force augmentation in haptic perception tasks. Background Considerable engineering effort has been devoted to developing force augmented reality (AR) systems to assist users in delicate procedures like microsurgery. In contrast, far less has been done to characterize the behavioral outcomes of these systems, and no research has systematically examined the impact of sensory and perceptual processes on force augmentation effectiveness. Method Using a handheld force magnifier as an exemplar haptic AR, we conducted three experiments to characterize its utility in the perception of force and stiffness. Experiments 1 and 2 measured, respectively, the user’s ability to detect and differentiate weak force (<0.5 N) with or without the assistance of the device and compared it to direct perception. Experiment 3 examined the perception of stiffness through the force augmentation. Results The user’s ability to detect and differentiate small forces was significantly improved by augmentation at both threshold and suprathreshold levels. The augmentation also enhanced stiffness perception. However, although perception of augmented forces matches that of the physical equivalent for weak forces, it falls off with increasing intensity. Conclusion The loss in the effectiveness reflects the nature of sensory and perceptual processing. Such perceptual limitations should be taken into consideration in the design and development of haptic AR systems to maximize utility. Application The findings provide useful information for building effective haptic AR systems, particularly for use in microsurgery.

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Hand-Held Force Magnifier for Surgical Instruments

Cited by 27 publications

References 10 publications

Endomicroscopy for Computer and Robot Assisted Intervention

Endomicroscopy for Computer and Robot Assisted Intervention

The Hybrid Artisans

Psychophysical Evaluation of Haptic Perception Under Augmentation by a Handheld Device

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