Vibrotactile motors on stationary arm as directional feedback to correct arm posture

Causo, Albert; Tran, Dung L.; Yeo, Song Huat; Chen, I‐Ming

doi:10.1109/aim.2012.6265990

Cited by 1 publication

(1 citation statement)

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“…Haptic guidance has been widely explored in rehabilitation scenarios [e.g., Causo et al (2012)] and teaching of complex gestures (e.g., musical instrument playing) (Grindlay, 2006;Holland et al, 2010). An often reached conclusion is that congruent visual and vibrotactile feedback improves the quality of gestures, whereby vibrotactile feedback alone allows for faster responses than visual feedback, probably because of the lower induced cognitive load (Rodríguez et al, 2010).…”

Section: Introductionmentioning

confidence: 99%

Improving Precision in Navigating Laparoscopic Surgery Instruments toward a Planar Target Using Haptic and Visual Feedback

Howard

Szewczyk

2016

Front. Robot. AI

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The poor ergonomics of laparoscopic surgery is a widely recognized source of difficulty for surgeons, leading to sub-optimal performance on their part and sometimes injury to the patient. The main recognized causes for such degraded performance are lost and distorted perception of interaction forces and degraded instrument navigation capabilities. The latter, due mainly to losses in visual and kinesthetic depth perception and modified hand-eye coordination, can prevent precise navigation of instruments toward surgical targets or away from sensitive anatomic structures. This situation prompts us to explore novel methods for efficiently assisting the surgeon during intra-corporeal instrument navigation. Here, we present a series of experiments aimed at providing insights into the effectiveness of haptic (tactile and kinesthetic), visual, and combined feedback in assisting the navigation of a laparoscopic instrument tip toward a surgical target. We placed subjects in front of a laparoscopic trainer and tasked them with following various instrument tip trajectories within a target plane while minimizing both deviation from said target and task execution time. Feedback on the level of deviation was provided alternately through visual on-screen cues (in the form of a bar-graph), tactile cues provided by vibration motors (off the shelf DC eccentric rotating mass motors) placed in the subjects hand, and/or kinesthetic cues provided by a haptic interface (6 degrees-of-freedom Haption Virtuose 6D interface) co-manipulating the surgical instrument. Evaluations of these forms of feedback over two series of experiments involving a total of 35 subjects (34 non-surgeon novices, 1 surgeon intern with experience in laparoscopy) show positive impacts of providing such feedback on precision in instrument navigation, and provide insights into possibilities for implementation in surgical assistance systems. Visual, tactile, and combined cues lead to increased precision in navigation (up to 25% increase in time on target, and 32% reduction in deviation amplitudes), but usually at the cost of reduced task execution speed (mean task execution times almost doubled under provision of visual feedback). However, the use of kinesthetic feedback through soft virtual fixtures provided in a co-manipulated robot-assisted surgery set-up both significantly improved precision (32% increase in time on target, and 70% reduction in deviation amplitudes) and task execution speed (30% reduction in task completion times). Although tactile

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Section: Introductionmentioning

confidence: 99%