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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Journal ArticleDOI
Improving Challenge/Skill Ratio in a Multimodal Interface by Simultaneously Adapting Game Difficulty and Haptic Assistance through Psychophysiological and Performance Feedback.
Carlos Rodriguez-Guerrero,Kristel Knaepen,Kristel Knaepen,Juan Carlos Fraile-Marinero,Javier Pérez-Turiel,Valentin Gonzalez-de-Garibay,Dirk Lefeber +6 more
TL;DR: A new type of biocooperative control architecture is presented, which acts toward improving the challenge/skill relation perceived by the user when interacting with a robotic multimodal interface in a cooperative scenario.
Journal ArticleDOI
Sensorless Force Sensing for Minimally Invasive Surgery
Baoliang Zhao,Carl A. Nelson +1 more
TL;DR: This paper explores the feasibility of using motor current to estimate tool-tissue forces and demonstrates acceptable results in terms of time delay and accuracy.
Proceedings ArticleDOI
Force-feedback sensory substitution using supervised recurrent learning for robotic-assisted surgery
TL;DR: A force estimation approach that starts with the reconstruction of a 3D deformation structure of the tissue surface by minimizing an energy functional and a Recurrent Neural Network-Long Short Term Memory (RNN-LSTM) based architecture is presented to accurately estimate the applied forces.
Journal ArticleDOI
Real-Time Assessment of Mechanical Tissue Trauma in Surgery
James H. Chandler,Faisal Mushtaq,Benjamin Moxley-Wyles,Nicholas P. West,GW Taylor,Peter Culmer +5 more
TL;DR: This work demonstrates that tissue trauma can be predicted using mechanical measures in real-time, and has the potential to reduce unnecessary tissue trauma and its associated complications by indicating through user feedback or actively regulating the mechanical impact of surgical instruments.
Haptics-Enabled Teleoperation for Robotics-Assisted Minimally Invasive Surgery
TL;DR: A haptics-enabled dual-arm (two masters two slaves) robotic MIS testbed is designed to investigate and validate various single-arm as well as dual- arm teleoperation scenarios and addresses several key issues associated with the incorporation of haptic feedback in a master-slave (teleoperated) robotic environment for minimally invasive surgery (MIS).
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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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.
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