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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Patent
Quantitative three-dimensional imaging of surgical scenes from multiport perspectives
Dorin Panescu,Daniel H. Jones +1 more
TL;DR: In this paper, a system is provided that includes a quantitative three-dimensional (Q3D) endoscope that is inserted through a first port providing access to a body cavity to a first position at which a first 3D image of a first portion of an anatomical structure is captured from a perspective of said endoscope.
Journal ArticleDOI
Novel virtual reality based training system for fine motor skills: Towards developing a robotic surgery training system.
TL;DR: 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 is proposed.
Proceedings ArticleDOI
Evaluating Manual Palpation Trajectory Patterns in Tele-manipulation for Soft Tissue Examination
Jelizaveta Konstantinova,Min Li,Vahid Aminzadeh,Kaspar Althoefer,Thrishantha Nanayakkara,Prokar Dasgupta +5 more
TL;DR: The results show the effectiveness of applying palpation trajectory pattern used during manual soft tissue examination to tele-manipulation palpation, with the counterpart patterns occurring during remote palpation.
Proceedings ArticleDOI
Force feedback enhancement for soft tissue interaction tasks in cooperative robotic surgery
TL;DR: A new torque controller with non-linear force feedback (FFE) is presented to provide augmented haptic perception to the operator, during the instrument's placement on the tissue, to allow for a safer tissue contact with respect to both robotic assistance without force feedback and freehand executions.
Patent
Surgical system with haptic feedback based upon quantitative three-dimensional imaging
TL;DR: In this paper, a system is provided to provide haptic feedback during a medical procedure comprising: a quantitative three-dimensional (Q3D); a surgical instrument disposed to deform a tissue structure; a haptic user interface device configured to provide an indication of tissue structure deformation in response to information indicative of the measure of tissue structural deformation.
References
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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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