Force feedback reduces test time and interaction forces in telemanipulated palpation using a robotic endoscope with series elastic actuated joints.

Autor: Margherita Ettori Sara Lisa, Fasel Lorin, Gerig Nicolas, Rauter Georg
Jazyk: angličtina
Rok vydání: 2024
Předmět:
Zdroj: Current Directions in Biomedical Engineering, Vol 10, Iss 1, Pp 9-12 (2024)
Druh dokumentu: article
ISSN: 2364-5504
DOI: 10.1515/cdbme-2024-0103
Popis: Force feedback is currently missing in most surgical robot systems, even though it would be essential for many surgical tasks, such as palpating tissue. In this study, we used a previously developed robotic endoscope based on series elastic actuation and tested the feasibility of using it for force feedback with a pilot study. The participants had a lower test time (−27%) and lower applied forces (−23%) with force feedback enabled. While further studies are needed for validation in realistic surgical scenarios, these results suggest improved safety and efficiency in telemanipulated surgeries.
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