Teleoperation with sensor/actuator asymmetry: task performance with partial force feedback

Semere, W.; Kitagawa, Masaya; Okamura, Allison M.

doi:10.1109/haptic.2004.1287186

Cited by 46 publications

(22 citation statements)

References 9 publications

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“…These sensors are small, but they are not sensitive to forces along the axis of the tool, and their placement and the associated wiring can interfere with insertion of the device into the trocar. A further option is to integrate a commercial force/torque sensor into the tool shaft, as in [18], but these are currently too bulky and expensive for clinical use. Others have developed novel, compact force sensors specifically for this purpose, e.g., [14], though these designs have not yet been commercialized.…”

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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“…However, visual information about the operating site is sometimes incomplete, due to the narrow visual field of a camera used in surgery [16], or object occlusion when tissues and a surgical tool block the view of each other in operation [17]. With such constraints in visual information about the operating site, performance in tele-operated task such as in robot-assisted surgery may be deteriorated [18].…”

Section: Introductionmentioning

confidence: 99%

Effect of haptic and visual information on asymmetric hand motion in a robot-assisted task

Samad

2013

2013 International Conference on Communication and Computer Vision (ICCCV)

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In a robot-assisted tele-operation, the operator uses a hand controller to maneuver a tool attached to the robot's endeffector. The performance in such tele-operation may depend on perceptual information about the operating site as well as the design of the hand-controller. A hand-controller that provides haptic information as force feedback during the interaction in tele-operation may be beneficial in robot-assisted tasks such as robot-assisted surgery. To evaluate the effect of such perceptual information such as visual and haptic information, it is important to analyze their effect on human hand motion and performance in a robot-assisted task. This study examines the effect of visual and haptic information on hand motion and the performance in a robot-assisted tracing task in each of three degrees of freedom (DOF). Our findings reveal that there is a significant asymmetry in performance in each DOF. The effect of force conditions as haptic information is more evident under inadequate visual information during the tracing task. A force condition opposite to the motion direction of the tracing yields best performance in compared to no force or other force conditions. These findings can be useful in designing a hand controller interface that yields optimal performance in robot-assisted tasks.

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“…Their results reveal that sensor/actuator asymmetry may lead to non-conservative forces in specific situations, reducing the realism of Virtual Reality (VR)-based devices. Semere et al (2004) performed an experimental study to determine the effect of this sensor/actuator asymmetry during a blunt dissection. One of the conclusions to be drawn from the former work is the improvement of the performance after adding partial force feedback.…”

Section: Introductionmentioning

confidence: 99%

Influence of Force and Torque Feedback on Operator Performance in a VR‐Based Suturing Task

Santos-Carreras¹,

Beira²,

Sengül³

et al. 2010

Applied Bionics and Biomechanics

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The introduction of Minimally Invasive Surgery (MIS) has revolutionised surgical care, considerably improving the quality of many surgical procedures. Technological advances, particularly in robotic surgery systems, have reduced the complexity of such an approach, paving the way for even less invasive surgical trends. However, the fact that haptic feedback has been progressively lost through this transition is an issue that to date has not been solved. Whereas traditional open surgery provides full haptic feedback, the introduction of MIS has eliminated the possibility of direct palpation and tactile exploration. Nevertheless, these procedures still provide a certain amount of force feedback through the rigid laparoscopic tool. Many of the current telemanipulated robotic surgical systems in return do not provide full haptic feedback, which to a certain extent can be explained by the requirement of force sensors integrated into the tools of the slave robot and actuators in the surgeon's master console. In view of the increased complexity and cost, the benefit of haptic feedback is open to dispute. Nevertheless, studies have shown the importance of haptic feedback, especially when visual feedback is unreliable or absent. In order to explore the importance of haptic feedback for the surgeon's master console of a novel teleoperated robotic surgical system, we have identified a typical surgical task where performance could potentially be improved by haptic feedback, and investigate performance with and without this feedback. Two rounds of experiments are performed with 10 subjects, six of them with a medical background. Results show that feedback conditions, including force feedback, significantly improve task performance independently of the operator's suturing experience. There is, however, no further significant improvement when torque feedback is added. Consequently, it is deduced that force feedback in translations improves subject's dexterity, while torque feedback might not further benefit such a task.

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Teleoperation with sensor/actuator asymmetry: task performance with partial force feedback

Cited by 46 publications

References 9 publications

VerroTouch: High-Frequency Acceleration Feedback for Telerobotic Surgery

VerroTouch: High-Frequency Acceleration Feedback for Telerobotic Surgery

Effect of haptic and visual information on asymmetric hand motion in a robot-assisted task

Influence of Force and Torque Feedback on Operator Performance in a VR‐Based Suturing Task

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