Manivannan Muniyandi

Bio: Manivannan Muniyandi is an academic researcher from Indian Institute of Technology Madras. The author has contributed to research in topics: Computer science & Haptic technology. The author has an hindex of 7, co-authored 16 publications receiving 587 citations. Previous affiliations of Manivannan Muniyandi include Massachusetts Institute of Technology.

Rendering stiffer walls : a hybrid haptic system using continuous and discrete time feedback

Abstract: Instability in conventional haptic rendering destroys the perception of rigid objects in virtual environments. Inherent limitations in the conventional haptic loop restrict the maximum stiffness th...

Novel virtual reality based training system for fine motor skills: Towards developing a robotic surgery training system.

Abstract: BACKGROUND Training surgeons to use surgical robots are becoming part of surgical training curricula. We propose a novel method of training fine-motor skills such as Microscopic Selection Task (MST) for robot-assisted surgery using virtual reality (VR) with objective quantification of performance. We also introduce vibrotactile feedback (VTFB) to study its impact on training performance. METHODS We use a VR-based environment to perform MST with varying degrees of difficulties. Using a well-known human-computer interaction paradigm and incorporating VTFB, we quantify the performance: speed, precision and accuracy. RESULTS MST with VTFB showed statistically significant improvement in performance metrics leading to faster completion of MST with higher precision and accuracy compared to that without VTFB. DISCUSSION The addition of VTFB to VR-based training for robot-assisted surgeries may improve performance outcomes in real robotic surgery. VTFB, along with proposed performance metrics, can be used in training curricula for robot-assisted surgeries.

Coding source localization through inter-spike delay: modelling a cluster of Pacinian Corpuscles using time-division multiplexing approach.

Abstract: The Pacinian Corpuscle (PC) is the most sensitive mechanoreceptor in the human body found in clusters of two or three. We extended our previous model of an isolated-PC to a cluster-PC focussing on ...

Human haptic perception is interrupted by explorative stops of milliseconds

Abstract: Introduction: The explorative scanning movements of the hands have been compared to those of the eyes. The visual process is known to be composed of alternating phases of saccadic eye movements and fixation pauses. Descriptive results suggest that during the haptic exploration of objects short movement pauses occur as well. The goal of the present study was to detect these “explorative stops” (ES) during one-handed and two-handed haptic explorations of various objects and patterns, and to measure their duration. Additionally, the associations between the following variables were analyzed: (a) between mean exploration time and duration of ES, (b) between certain stimulus features and ES frequency, and (c) the duration of ES during the course of exploration. Methods: Five different Experiments were used. The first two Experiments were classical recognition tasks of unknown haptic stimuli (A) and of common objects (B). In Experiment C space-position information of angle legs had to be perceived and reproduced. For Experiments D and E the PHANToM haptic device was used for the exploration of virtual (D) and real (E) sunken reliefs. Results: In each Experiment we observed explorative stops of different average durations. For Experiment A: 329.50ms, Experiment B: 67.47ms, Experiment C: 189.92ms, Experiment D: 186.17ms and Experiment E: 140.02ms. Significant correlations were observed between exploration time and the duration of the ES. Also, ES occurred more frequently, but not exclusively, at defined stimulus features like corners, curves and the endpoints of lines. However, explorative stops do not occur every time a stimulus feature is explored. Conclusions: We assume that ES are a general aspect of human haptic exploration processes. We have tried to interpret the occurrence and duration of ES with respect to the Hypotheses-Rebuild-Model and the Limited Capacity Control System theory.

Face and Construct Validity of a Novel Virtual Reality-Based Bimanual Laparoscopic Force-Skills Trainer With Haptics Feedback.

Abstract: Background. The purpose of this study was to examine the face and construct validity of a custom-developed bimanual laparoscopic force-skills trainer with haptics feedback. The study also examined ...

Principles of Neural Science

Abstract: I have developed "tennis elbow" from lugging this book around the past four weeks, but it is worth the pain, the effort, and the aspirin. It is also worth the (relatively speaking) bargain price. Including appendixes, this book contains 894 pages of text. The entire panorama of the neural sciences is surveyed and examined, and it is comprehensive in its scope, from genomes to social behaviors. The editors explicitly state that the book is designed as "an introductory text for students of biology, behavior, and medicine," but it is hard to imagine any audience, interested in any fragment of neuroscience at any level of sophistication, that would not enjoy this book. The editors have done a masterful job of weaving together the biologic, the behavioral, and the clinical sciences into a single tapestry in which everyone from the molecular biologist to the practicing psychiatrist can find and appreciate his or

Medical robotics in computer-integrated surgery

Abstract: This paper provides a broad overview of medical robot systems used in surgery. After introducing basic concepts of computer-integrated surgery, surgical CAD/CAM, and surgical assistants, it discusses some of the major design issues particular to medical robots. It then illustrates these issues and the broader themes introduced earlier with examples of current surgical CAD/CAM and surgical assistant systems. Finally, it provides a brief synopsis of current research challenges and closes with a few thoughts on the research/industry/clinician teamwork that is essential for progress in the field.

Haptic Feedback in Robot-Assisted Minimally Invasive Surgery

Abstract: Purpose of Review Robot-assisted minimally invasive surgery (RMIS) holds great promise for improving the accuracy and dexterity of a surgeon while minimizing trauma to the patient. However, widespread clinical success with RMIS has been marginal. It is hypothesized that the lack of haptic (force and tactile) feedback presented to the surgeon is a limiting factor. This review explains the technical challenges of creating haptic feedback for robot-assisted surgery and provides recent results that evaluate the effectiveness of haptic feedback in mock surgical tasks.

The value of haptic feedback in conventional and robot-assisted minimal invasive surgery and virtual reality training: a current review

Abstract: Background Virtual reality (VR) as surgical training tool has become a state-of-the-art technique in training and teaching skills for minimally invasive surgery (MIS). Although intuitively appealing, the true benefits of haptic (VR training) platforms are unknown. Many questions about haptic feedback in the different areas of surgical skills (training) need to be answered before adding costly haptic feedback in VR simulation for MIS training. This study was designed to review the current status and value of haptic feedback in conventional and robot-assisted MIS and training by using virtual reality simulation.