Haptic Feedback, Force Feedback, and Force-Sensing in Simulation Training for Laparoscopy: A Systematic Overview

Overtoom, Evelien; Horeman, Tim; Jansen, Frank Willem; Dankelman, Jenny; Schreuder, Henk W.R.

doi:10.1016/j.jsurg.2018.06.008

Cited by 92 publications

(61 citation statements)

References 79 publications

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“…These are important to ensure the tissue is firmly held, without causing any damage. Systems have also been developed with haptic feedback systems, with a range of sensors, for training [ 57 ].…”

Section: Short-medium Term Internal Devicesmentioning

confidence: 99%

In-Vivo Microsystems: A Review

French

2020

Sensors

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In-vivo sensors yield valuable medical information by measuring directly on the living tissue of a patient. These devices can be surface or implant devices. Electrical activity in the body, from organs or muscles can be measured using surface electrodes. For short term internal devices, catheters are used. These include cardiac catheter (in blood vessels) and bladder catheters. Due to the size and shape of the catheters, silicon devices provided an excellent solution for sensors. Since many cardiac catheters are disposable, the high volume has led to lower prices of the silicon sensors. Many catheters use a single sensor, but silicon offers the opportunity to have multi sensors in a single catheter, while maintaining small size. The cardiac catheter is usually inserted for a maximum of 72 h. Some devices may be used for a short-to-medium period to monitor parameters after an operation or injury (1–4 weeks). Increasingly, sensing, and actuating, devices are being applied to longer term implants for monitoring a range of parameters for chronic conditions. Devices for longer term implantation presented additional challenges due to the harshness of the environment and the stricter regulations for biocompatibility and safety. This paper will examine the three main areas of application for in-vivo devices: surface devices and short/medium-term and long-term implants. The issues of biocompatibility and safety will be discussed.

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Section: Short-medium Term Internal Devicesmentioning

confidence: 99%

In-Vivo Microsystems: A Review

French

2020

Sensors

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“…Their relative importance in the design of a tactile stimulation mechanism depends on the application domain; in surgical training, all four can be significant. Qualities of good tactile stimulation include (Overtoom et al, 2019): that it can sustain high output, has low inertia/friction, is highly responsive, and has a narrow bandwidth range. In general, the Degrees of Freedom (DOF) of the stimulation should match the task for the highest fidelity (fidelity being the level of resemblance to the real thing).…”

Section: Introducing Tactile Feedbackmentioning

confidence: 99%

Haptic Training Simulation

Lelevé

McDaniel

Rossa

2020

Front. virtual real.

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Immersive virtual environments combined with kinaesthetic and/or tactile haptic feedback are becoming an essential building block of simulator training in a variety of applications. This paper aims to illustrate the interest of hands-on training simulation with haptic feedback. We review the recent application domains and we expose the progress and open challenges in the medical domain which is particularly demonstrative. The paper then addresses two aspects of haptic feedback that could help enhance modern haptic training simulators' performance, namely transparent and efficient actuation for kinaesthetic feedback and tactile feedback. This research topic, beyond technological progress, should help design kinaesthetic and tactile haptic interfaces and motivate the use of new actuation techniques for more realistic and effective feedback in simulations as soon as users are immersed in virtual environments.

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“…Radó et al developed a surgery robot with a three-axis force sensor integrated into it to provide force feedback [21]. However, because wrist joints need to be designed to be narrow and small in size in order to meet the requirements of surgical robot end-effectors, and considering the limiting factors of the disinfection method, the material hemolysis effect, and the economic cost, many challenges and difficulties remain with the application of these force sensing methods by integrating internal force sensors into the tip of surgical forceps [23,24].…”

Section: Introductionmentioning

confidence: 99%

A Clamping Force Estimation Method Based on a Joint Torque Disturbance Observer Using PSO-BPNN for Cable-Driven Surgical Robot End-Effectors

Wang

Chen

et al. 2019

Sensors

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The ability to sense external force is an important technique for force feedback, haptics and safe interaction control in minimally-invasive surgical robots (MISRs). Moreover, this ability plays a significant role in the restricting refined surgical operations. The wrist joints of surgical robot end-effectors are usually actuated by several long-distance wire cables. Its two forceps are each actuated by two cables. The scope of force sensing includes multidimensional external force and one-dimensional clamping force. This paper focuses on one-dimensional clamping force sensing method that do not require any internal force sensor integrated in the end-effector’s forceps. A new clamping force estimation method is proposed based on a joint torque disturbance observer (JTDO) for a cable-driven surgical robot end-effector. The JTDO essentially considers the variations in cable tension between the actual cable tension and the estimated cable tension using a Particle Swarm Optimization Back Propagation Neural Network (PSO-BPNN) under free motion. Furthermore, a clamping force estimator is proposed based on the forceps’ JTDO and their mechanical relations. According to comparative analyses in experimental studies, the detection resolutions of collision force and clamping force were 0.11 N. The experimental results verify the feasibility and effectiveness of the proposed clamping force sensing method.

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Haptic Feedback, Force Feedback, and Force-Sensing in Simulation Training for Laparoscopy: A Systematic Overview

Cited by 92 publications

References 79 publications

In-Vivo Microsystems: A Review

In-Vivo Microsystems: A Review

Haptic Training Simulation

A Clamping Force Estimation Method Based on a Joint Torque Disturbance Observer Using PSO-BPNN for Cable-Driven Surgical Robot End-Effectors

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