Haptic Feedback in Robot-Assisted Minimally Invasive Surgery
Reads0
Chats0
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
More filters
Proceedings ArticleDOI
Classical Preisach model of hysteretic behavior in a da Vinci instrument
TL;DR: In this paper, modeling of the input-output hysteretic behavior in a da Vinci instrument is addressed using the classical Preisach approach and it is demonstrated that the classicalpreisach model allows for sufficiently precise estimation of the forces at the tip of the da VinCI instrument.
Journal ArticleDOI
Application of a Nonlinear Hammerstein-Wiener Estimator in the Development and Control of a Magnetorheological Fluid Haptic Device for Robotic Bone Biopsy
TL;DR: In this paper, a force generator module (FGM) based on magnetorheological fluid (MRF) was developed to provide force-feedback information for applications in tele-robotic bone biopsy procedures.
Journal ArticleDOI
A Testbed for Haptic and Magnetic Resonance Imaging-Guided Percutaneous Needle Biopsy
Evelyn Mendoza,John P. Whitney +1 more
TL;DR: A teleoperated system and instrumented testbed for robotic MRI-guided needle biopsy, particularly targeting transperineal prostate biopsies is presented, which has a 1:1 kinematic mapping and uses a low-friction hydrostatic transmission based on antagonistic pairs of rolling diaphragms.
Proceedings ArticleDOI
Kinesthetic and vibrotactile haptic feedback improves the performance of laser microsurgery
TL;DR: A novel teleoperated surgical platform, which employs a commercial haptic device to convey information about the laser incision depth to the surgeon, shows that haptic feedback can significantly improve the level of surgical precision of laser interventions.
Journal ArticleDOI
Joint-level force sensing for indirect hybrid force/position control of continuum robots with friction:
Rashid Yasin,Nabil Simaan +1 more
TL;DR: Using JEFS and automated task execution, repeatability, and force regulation accuracy is shown to be comparable to using a commercial force sensor for human-in-the-loop feedback.
References
More filters
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.
Book
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.