Artificial palpation in robotic surgery using haptic feedback
| Autor: | Warren S. Grundfest, Erik Dutson, Syed J. Askari, Anna Tao, James W. Bisley, Yen-Yi Juo, Ahmad Abiri, Jake Pensa |
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| Rok vydání: | 2019 |
| Předmět: |
Models
Anatomic Clinical Sciences Bioengineering Haptics Palpation Vibration Imaging phantom Article Feedback Robotic palpation 03 medical and health sciences 0302 clinical medicine Robotic Surgical Procedures Feedback Sensory Models Minimally invasive surgery Clinical Research Neoplasms medicine Humans Minimally Invasive Surgical Procedures Computer vision Robotic surgery Haptic technology Sensory medicine.diagnostic_test business.industry Work (physics) Anatomic Neurosciences Tissue characterization Equipment Design Vibrotactile feedback Touch 030220 oncology & carcinogenesis Blood Vessels 030211 gastroenterology & hepatology Surgery Artificial intelligence business Haptic feedback Surgical robot |
| Zdroj: | Surgical endoscopy, vol 33, iss 4 |
| Popis: | BACKGROUND: The loss of tactile feedback in minimally invasive robotic surgery remains a major challenge to the expanding field. With visual cue compensation alone, tissue characterization via palpation proves to be immensely difficult. This work evaluates a bi-modal vibro-tactile system as a means of conveying applied forces to simulate haptic feedback in two sets of studies simulating an artificial palpation task using the da Vinci surgical robot. METHODS: Subjects in the first study were tasked with localizing an embedded vessel in a soft tissue phantom using a single-sensor unit. In the second study, subjects localized tumor-like structures using a three-sensor array. In both sets of studies, subjects completed the task under three trial conditions: no feedback, normal force tactile feedback, and hybrid vibro-tactile feedback. Recordings of correct localization, incorrect localization, and time-to-completion, were used to evaluate performance outcomes. RESULTS: With the addition of vibro-tactile and pneumatic feedback, significant improvements in the percentage of correct localization attempts were detected (p=0.0001 and 0.0459, respectively) during the first experiment with phantom vessels. Similarly, significant improvements in correct localization were found with the addition of vibrotactile (p=2.57E-5) and pneumatic significance (p=8.54E-5) were observed in the second experiment involving tumor phantoms. CONCLUSIONS: This work demonstrates not only the superior benefits of a multi-modal feedback over traditional single modality feedback, but also the effectiveness of vibration in providing haptic feedback to artificial palpation systems. |
| Databáze: | OpenAIRE |
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