Haptic Feedback in Robot-Assisted Minimally Invasive Surgery
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TLDR
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.read more
Citations
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Proceedings ArticleDOI
A monolithic approach to fabricating low-cost, millimeter-scale multi-axis force sensors for minimally-invasive surgery
Joshua B. Gafford,Samuel Kesner,Alperen Degirmenci,Robert J. Wood,Robert D. Howe,Conor J. Walsh +5 more
TL;DR: Using a composite laminate batch fabrication process with biocompatible constituent materials, a fully-integrated, 10×10 mm three-axis force sensor with up to 5 V/N sensitivity and RMS noise is fabricated with potential haptics and control applications in minimally-invasive surgical tools.
Journal ArticleDOI
A cable-pulley transmission mechanism for surgical robot with backdrivable capability
TL;DR: In this paper, a miniaturized, low friction, back-drivable reducing mechanism for haptic or surgical robot applications has been designed, developed and evaluated, where a cable comprises a sheave wheel supported by a yolk.
Book ChapterDOI
Snake-Like Robots for Minimally Invasive, Single Port, and Intraluminal Surgeries.
TL;DR: This chapter presents an overview of the background, motivation, and taxonomy of MIS and its newer derivatives, and examines the commercial and research surgical platforms developed over the years to address the specific functional requirements and constraints imposed by operations in confined spaces.
Journal ArticleDOI
A Systematic Review of the Role of Robotics in Plastic and Reconstructive Surgery—From Inception to the Future
Thomas D. Dobbs,Olivia Cundy,Harsh Samarendra,Khurram Khan,Iain S. Whitaker,Iain S. Whitaker +5 more
TL;DR: The feasibility of robotic plastic surgery has been demonstrated in several specific indications and these techniques have the potential to contribute positively to patient and provider experience and outcomes.
Journal ArticleDOI
Lump localisation through a deformation-based tactile feedback system using a biologically inspired finger sensor
TL;DR: It is demonstrated that a deformation-based tactile feedback system can be used to successfully locate hard embedded objects within soft tissue, with a significant improvement over force and visual feedback alone.
References
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Journal ArticleDOI
Haptic interfaces and devices
Vincent Hayward,Oliver R. Astley,Manuel Cruz‐Hernandez,Danny A. Grant,Gabriel Robles-De-La-Torre +4 more
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.
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Human Hand Function
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.
Journal ArticleDOI
State-of-the-Art in Force and Tactile Sensing for Minimally Invasive Surgery
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.
Journal ArticleDOI
Haptic rendering: introductory concepts
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.