Haptic Feedback in Robot-Assisted Minimally Invasive Surgery
TL;DR: The designs of existing commercial RMIS systems are not conducive for force feedback, and creative solutions are needed to create compelling tactile feedback systems.
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.
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TL;DR: The importance of tactile sensor technology was recognized in the 1980s, along with a realization of the importance of computers and robotics, despite this awareness, tactile sensors failed to be strongly adopted in industrial or consumer markets as discussed by the authors.
Abstract: Any device which senses information such as shape, texture, softness, temperature, vibration or shear and normal forces, by physical contact or touch, can be termed a tactile sensor. The importance of tactile sensor technology was recognized in the 1980s, along with a realization of the importance of computers and robotics. Despite this awareness, tactile sensors failed to be strongly adopted in industrial or consumer markets. In this paper, previous expectations of tactile sensors have been reviewed and the reasons for their failure to meet these expectations are discussed. The evolution of different tactile transduction principles, state of art designs and fabrication methods, and their pros and cons, are analyzed. From current development trends, new application areas for tactile sensors have been proposed. Literature from the last few decades has been revisited, and areas which are not appropriate for the use of tactile sensors have been identified. Similarly, the challenges that this technology needs to overcome in order to find its place in the market have been highlighted.
622 citations
Cites background from "Haptic Feedback in Robot-Assisted M..."
...Although particular importance and effort has been put into the development of tactile sensors over the past three decades, a satisfactory artificial tactile sensor that can provide feedback matching the human sense of touch has not yet been realized and in turn limits progress in fields such as robotics and minimally invasive surgery [7–12]....
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TL;DR: By examining robotic systems across time and disciplines, trends are discernible that imply future capabilities of medical robots, for example, increased usage of intraoperative images, improved robot arm design, and haptic feedback to guide the surgeon.
Abstract: First used medically in 1985, robots now make an impact in laparoscopy, neurosurgery, orthopedic surgery, emergency response, and various other medical disciplines. This paper provides a review of medical robot history and surveys the capabilities of current medical robot systems, primarily focusing on commercially available systems while covering a few prominent research projects. By examining robotic systems across time and disciplines, trends are discernible that imply future capabilities of medical robots, for example, increased usage of intraoperative images, improved robot arm design, and haptic feedback to guide the surgeon.
260 citations
01 Feb 2012
TL;DR: By the consideration of the effect of the frequency response of Micron on the human visual feedback loop, this work has developed a filter that reduces unintentional motion, yet preserves the intuitive eye-hand coordination.
Abstract: We describe the design and performance of a handheld actively stabilized tool to increase accuracy in microsurgery or other precision manipulation. It removes involuntary motion, such as tremor, by the actuation of the tip to counteract the effect of the undesired handle motion. The key components are a 3-degree-of-freedom (DOF) piezoelectric manipulator that has a 400-μm range of motion, 1-N force capability, and bandwidth over 100 Hz, and an optical position-measurement subsystem that acquires the tool pose with 4-μm resolution at 2000 samples/s. A control system using these components attenuates hand motion by at least 15 dB (a fivefold reduction). By the consideration of the effect of the frequency response of Micron on the human visual feedback loop, we have developed a filter that reduces unintentional motion, yet preserves the intuitive eye-hand coordination. We evaluated the effectiveness of Micron by measuring the accuracy of the human/machine system in three simple manipulation tasks. Handheld testing by three eye surgeons and three nonsurgeons showed a reduction in the position error of between 32% and 52%, depending on the error metric.
240 citations
Cites background from "Haptic Feedback in Robot-Assisted M..."
...However, force feedback in surgical robots remains an open research problem [31], [32]....
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TL;DR: This review provides a unifying view of human and robot sharing task execution in scenarios where collaboration and cooperation between the two entities are necessary, and where the physical coupling ofhuman and robot is a vital aspect.
Abstract: As robotic devices are applied to problems beyond traditional manufacturing and industrial settings, we find that interaction between robots and humans, especially physical interaction, has become a fast developing field. Consider the application of robotics in healthcare, where we find telerobotic devices in the operating room facilitating dexterous surgical procedures, exoskeletons in the rehabilitation domain as walking aids and upper-limb movement assist devices, and even robotic limbs that are physically integrated with amputees who seek to restore their independence and mobility. In each of these scenarios, the physical coupling between human and robot, often termed physical human robot interaction (pHRI), facilitates new human performance capabilities and creates an opportunity to explore the sharing of task execution and control between humans and robots. In this review, we provide a unifying view of human and robot sharing task execution in scenarios where collaboration and cooperation between the two entities are necessary, and where the physical coupling of human and robot is a vital aspect. We define three key themes that emerge in these shared control scenarios, namely, intent detection, arbitration, and feedback. First, we explore methods for how the coupled pHRI system can detect what the human is trying to do, and how the physical coupling itself can be leveraged to detect intent. Second, once the human intent is known, we explore techniques for sharing and modulating control of the coupled system between robot and human operator. Finally, we survey methods for informing the human operator of the state of the coupled system, or the characteristics of the environment with which the pHRI system is interacting. At the conclusion of the survey, we present two case studies that exemplify shared control in pHRI systems, and specifically highlight the approaches used for the three key themes of intent detection, arbitration, and feedback for applications of upper limb robotic rehabilitation and haptic feedback from a robotic prosthesis for the upper limb. [DOI: 10.1115/1.4039145]
202 citations
Cites background from "Haptic Feedback in Robot-Assisted M..."
...HRI has also reached to the medical and healthcare sector, where we see robots used for minimally invasive surgery [5], and even being worn to improve mobility and independence [6,7]....
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TL;DR: An extensive and diverse classification of wearables, based on various factors, a discussion on wireless communication technologies, architectures, data processing aspects, and market status, as well as a variety of other actual information on wearable technology are provided.
197 citations
References
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Book•
17 Aug 1996TL;DR: Haptic Sensing and Control.
Abstract: Haptic Sensing and Control. Actuators. Nonportable Force Feedback. Portable Force Feedback. Tactile Feedback Interfaces. Physical Modeling. Control of Haptic Interfaces. Human Factors. Haptic Feedback Applications. The Future. References. List of Companies and Research Laboratories. Index.
1,123 citations
TL;DR: A description of the components and the modus operandi of haptic interfaces are described, followed by a list of current and prospective applications and a discussion of a cross‐section of current device designs.
Abstract: Haptic interfaces enable person‐machine communication through touch, and most commonly, in response to user movements. We comment on a distinct property of haptic interfaces, that of providing for simultaneous information exchange between a user and a machine. We also comment on the fact that, like other kinds of displays, they can take advantage of both the strengths and the limitations of human perception. The paper then proceeds with a description of the components and the modus operandi of haptic interfaces, followed by a list of current and prospective applications and a discussion of a cross‐section of current device designs.
577 citations
Book•
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20 Apr 2006
TL;DR: This book discusses the evolution and anatomy of the hand, sensory neurophysiology, and applications across the lifespan, as well as some of the applications currently in use.
Abstract: 1. Historical Overview and general introduction 2. Evolutionary development and anatomy of the hand 3. Sensory neurophysiology 4. Tactile sensing 5. Active haptic sensing 6. Prehension 7. Non-prehensile skilled movements 8. End-effector constraints 9. Hand function across the lifespan 10. Applications 11. Summary, conclusions and future directions
544 citations
TL;DR: This paper reviews the state-of-the-art in force and tactile sensing technologies applied in minimally invasive surgery and discusses several sensing strategies including displacement-based, current- based, pressure-Based, resistive-based , capacitive-based), piezoelectric-based.
Abstract: Haptic perception plays a very important role in surgery. It enables the surgeon to feel organic tissue hardness, measure tissue properties, evaluate anatomical structures, and allows him/her to commit appropriate force control actions for safe tissue manipulation. However, in minimally invasive surgery, the surgeon's ability of perceiving valuable haptic information through surgical instruments is severely impaired. Performing the surgery without such sensory information could lead to increase of tissue trauma and vital organic tissue damage. In order to restore the surgeon's perceptual capability, methods of force and tactile sensing have been applied with attempts to develop instruments that can be used to detect tissue contact forces and generate haptic feedback to the surgeon. This paper reviews the state-of-the-art in force and tactile sensing technologies applied in minimally invasive surgery. Several sensing strategies including displacement-based, current-based, pressure-based, resistive-based, capacitive-based, piezoelectric-based, vibration-based, and optical-based sensing are discussed.
525 citations
TL;DR: This work surveys current haptic systems and discusses some basic haptic-rendering algorithms, and describes the process by which desired sensory stimuli are imposed on the user to convey information about a virtual haptic object.
Abstract: Haptic rendering allows users to "feel" virtual objects in a simulated environment. We survey current haptic systems and discuss some basic haptic-rendering algorithms. In the past decade we've seen an enormous increase in interest in the science of haptics. Haptics broadly refers to touch interactions (physical contact) that occur for the purpose of perception or manipulation of objects. These interactions can be between a human hand and a real object; a robot end-effector and a real object; a human hand and a simulated object (via haptic interface devices); or a variety of combinations of human and machine interactions with real, remote, or virtual objects. Rendering refers to the process by which desired sensory stimuli are imposed on the user to convey information about a virtual haptic object.
469 citations