Towards a ROS-based Modular Multi-Modality Haptic Feedback System for Robotic Minimally Invasive Surgery Training Assessments

Machaca, Sergio; Karachiwalla, Zulekha; Riaziat, Naveed D; Brown, Jeremy D.

doi:10.1109/ismr48347.2022.9807479

Cited by 4 publications

(1 citation statement)

References 19 publications

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“…Shazada et al [27] and Du et al [28] used fiber Bragg gratings to measure 2DoF lateral forces. Machaca et al [29] measured forces using custom strain gauge films for wristbased haptic feedback, and Wee et al [30] adopted a similar sensing approach for manual laparoscopic instruments. For Wee et al [30], the performance of the sensor was only reported for lateral bending.…”

Section: Introductionmentioning

confidence: 99%

A Modular 3-Degrees-of-Freedom Force Sensor for Robot-Assisted Minimally Invasive Surgery Research

Chua

Okamura

2023

Sensors

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Effective force modulation during tissue manipulation is important for ensuring safe, robot-assisted, minimally invasive surgery (RMIS). Strict requirements for in vivo applications have led to prior sensor designs that trade off ease of manufacture and integration against force measurement accuracy along the tool axis. Due to this trade-off, there are no commercial, off-the-shelf, 3-degrees-of-freedom (3DoF) force sensors for RMIS available to researchers. This makes it challenging to develop new approaches to indirect sensing and haptic feedback for bimanual telesurgical manipulation. We present a modular 3DoF force sensor that integrates easily with an existing RMIS tool. We achieve this by relaxing biocompatibility and sterilizability requirements and by using commercial load cells and common electromechanical fabrication techniques. The sensor has a range of ±5 N axially and ±3 N laterally with errors of below 0.15 N and maximum errors below 11% of the sensing range in all directions. During telemanipulation, a pair of jaw-mounted sensors achieved average errors below 0.15 N in all directions. It achieved an average grip force error of 0.156 N. The sensor is for bimanual haptic feedback and robotic force control in delicate tissue telemanipulation. As an open-source design, the sensors can be adapted to suit other non-RMIS robotic applications.

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Section: Introductionmentioning

confidence: 99%

A Modular 3-Degrees-of-Freedom Force Sensor for Robot-Assisted Minimally Invasive Surgery Research

Chua

Okamura

2023

Sensors

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Multi-sensory data transmission using 5G and B5G enabled network for healthcare: survey

Joshi

2024

Discov Internet Things

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The study investigates the feasibility of utilizing 5G and its future iterations (B5G) networks for the transmission of multi-sensory data, including audio, visual, haptic, olfactory, and gustatory data. The advent of 5G and B5G technologies has enabled the transmission of a wide range of sensory information in real-time or near real-time, thanks to their exceptional speed, low latency, and large capacity. The idea behind this review is to explore the technological developments that facilitate the transmission of data, such as layered protocols. This article aims to provide an overall survey and use cases for sensory data transmitted using 5G and B5G networks. The objective of this survey is to focus on challenges for multiple sensor data transmission using 5G and beyond network technologies, as well as how significant is to receive this information without losing them. Moreover, it tackles the inherent difficulties associated with guaranteeing adequate bandwidth, minimal latency, high quality of service, and robust security for the transmission of multi-sensory data via wireless networks. The goal is to provide an introductory overview for researchers, engineers, and practitioners who are interested in exploiting 5G and B5G networks to leverage the revolutionary capabilities of multi-sensory data transmission. The future scope at the end also highlights how to add enhancement in this field.

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Dual-Modality Haptic Feedback Improves Dexterous Task Execution With Virtual EMG-Controlled Gripper

Li,

Brown

2023

IEEE Trans. Haptics

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Towards a ROS-based Modular Multi-Modality Haptic Feedback System for Robotic Minimally Invasive Surgery Training Assessments

Cited by 4 publications

References 19 publications

A Modular 3-Degrees-of-Freedom Force Sensor for Robot-Assisted Minimally Invasive Surgery Research

A Modular 3-Degrees-of-Freedom Force Sensor for Robot-Assisted Minimally Invasive Surgery Research

Multi-sensory data transmission using 5G and B5G enabled network for healthcare: survey

Dual-Modality Haptic Feedback Improves Dexterous Task Execution With Virtual EMG-Controlled Gripper

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