Investigating haptic distance-to-break using linear and nonlinear materials in a simulated minimally invasive surgery task

Abstract

Accurate detection of mediated haptic information in minimally invasive surgery (MIS) is critical for applying appropriate force magnitudes onto soft tissue with the aim of minimising tissue trauma. Force perception in MIS is a dynamic process, with surgeons' administration of force into tissue revealing information about the remote surgical site which further informs the surgeons' haptic interactions. The relationship between applied force and material deformation rate provides biomechanical information specifying the deformation distance remaining until a tissue will fail: which is termed distance-to-break (DTB). The current study demonstrates that observers can detect DTB while deforming simulated tissues and stop before reaching the tissues' failure points. The design of training simulators, control devices and automated robotic systems for applications outside of MIS is discussed. Practitioner Summary: In MIS, haptic information is critical for applying appropriate forces onto soft tissue to minimise tissue trauma. Observers used force information to detect how far they could deform a virtual tissue before it would break. The design of training simulators, control devices and automated robotic systems is discussed.

Human Threshold Model for Perceiving Changes in System Dynamics

“…In research on "dynamic touch," related work on the perception of higher order properties of manipulated devices has been performed. Examples are-among others-the haptic perception of object length and inertia [17], the perception through nonlinear stiffness of the distance-to-break in biological tissue [18], [19], or the perception of viscosity [20]. This work shows that humans are able to estimate relevant higher order properties from mechanical systems through active manipulation, and that the accuracy with which these properties are estimated follows a Weber-Fechner relationship.…”

On the psychological origins of tool use

“…Along these lines, researchers programmed a custom laparoscopic surgery simulator to provide (haptic) information about the extent to which (simulated) bodily tissue could be manipulated until it was (accidentally) torn (Altenhoff et al, 2017;Hartman et al, 2016;Long et al, 2016). They modeled haptic information about 'distance to break' on optical information about 'time to contact' with a surface.…”

An Argument Framework for Ecological Psychology and Architecture Design

“…Human factors applies basic research in human perception, motor control, and cognition, to the design of tools, technology, and built environments. Ecological psychology provides a theoretical basis for human factors (Dainoff 2008;Dainoff and Wagman 2004;Flach 1990;Hartman et al 2016;Mantel et al 2012;Vicente and Rasmussen 1990). Human factors applied to architecture and design aims to increase intuitive use and safety for products and spaces.…”

“…For example, a stair that is inadvertently rendered "invisible" is hazardous because the affordance for falling exists even when it is not perceived (Johnson 1998;2012). In addition to usability testing, the literature provides other methodologies for empirically determining the presence of desirable and undesirable affordances (Galvao and Sato 2006;Kim et al 2007;2008;Withagen et al 2012), as well as their perceptibility (Bardenhagen and Rodiek 2015;Hartman et al 2016;Mark 1987;Vicente and Rasmussen 1990;Warren 1995).…”