A Dual-Arm 7-Degrees-of-Freedom Haptics-Enabled Teleoperation Test Bed for Minimally Invasive Surgery

Talasaz, Ali; Trejos, Ana Luisa; Perreault, Simon; Bassan, H.; Patel, Rajni V.

doi:10.1115/1.4026984

Cited by 18 publications

(7 citation statements)

References 17 publications

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“…The collision engine which is developed in this study is based on collision detection using the GJK algorithm [21]. To calculate the approximate amount of force during the collision of the lower tip of a haptic wand and a virtual object, we developed MATLAB code which calculates the force based on equation ( 1) [11].…”

Section: Methodsmentioning

confidence: 99%

A Toolkit for Haptic Force Feedback in a Telerobotic Ultrasound System

Fotouhi

Semnani

Zhang

et al. 2021

Preprint

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Objective To develop a collision engine (haptic force feedback simulator) compatible with a 5-degrees-of-freedom (DOF) haptic wand. This has broad applications such as for telerobotic ultrasound systems. Integrating force feedback into systems is critical to optimize remote scanning. A collision engine compatible with a 5-DOF haptic wand was developed based on the Gilbert–Johnson–Keerthi algorithm. The collision engine calculated force during collision between the wand and a virtual object based on code developed using MATLAB. A proportional force was subsequently returned to a user via the haptic wand, thereby simulating the collision force for the user. Three experiments were conducted to assess the accuracy of the collision engine on curved and flat surfaces. Results The average errors in calculation of distances between the wand and virtual object were 2.1 cm, 3.4 cm, and 4.2 cm for the model of the human hand, cylinder, and cuboid, respectively. The collision engine accurately simulated forces on a flat surface, though was less accurate on curved surfaces. Future work will incorporate haptic force feedback into a telerobotic ultrasound system. The haptic force simulator presented here may also be used in the development of ultrasound simulators for training and education.

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Section: Methodsmentioning

confidence: 99%

A Toolkit for Haptic Force Feedback in a Telerobotic Ultrasound System

Fotouhi

Semnani

Zhang

et al. 2021

Preprint

View full text Add to dashboard Cite

show abstract

“…The problem of degraded haptic feedback in conventional laparoscopy has not been solved yet. Better tracking accuracy and improved surgical performances have been achieved using the haptic feedback in RAMIS (Talasaz et al, 2014), (Currie et al, 2017). Related to this, the lack of haptic feedback increases the risk of tissue damage due to large unintentional forces.…”

Section: Robotics-assisted Surgerymentioning

confidence: 99%

Robotics and AI for Teleoperation, Tele-Assessment, and Tele-Training for Surgery in the Era of COVID-19: Existing Challenges, and Future Vision

et al. 2021

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The unprecedented shock caused by the COVID-19 pandemic has severely influenced the delivery of regular healthcare services. Most non-urgent medical activities, including elective surgeries, have been paused to mitigate the risk of infection and to dedicate medical resources to managing the pandemic. In this regard, not only surgeries are substantially influenced, but also pre- and post-operative assessment of patients and training for surgical procedures have been significantly impacted due to the pandemic. Many countries are planning a phased reopening, which includes the resumption of some surgical procedures. However, it is not clear how the reopening safe-practice guidelines will impact the quality of healthcare delivery. This perspective article evaluates the use of robotics and AI in 1) robotics-assisted surgery, 2) tele-examination of patients for pre- and post-surgery, and 3) tele-training for surgical procedures. Surgeons interact with a large number of staff and patients on a daily basis. Thus, the risk of infection transmission between them raises concerns. In addition, pre- and post-operative assessment also raises concerns about increasing the risk of disease transmission, in particular, since many patients may have other underlying conditions, which can increase their chances of mortality due to the virus. The pandemic has also limited the time and access that trainee surgeons have for training in the OR and/or in the presence of an expert. In this article, we describe existing challenges and possible solutions and suggest future research directions that may be relevant for robotics and AI in addressing the three tasks mentioned above.

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“…The collision engine which is developed in this study is based on collision detection using the GJK algorithm [ 23 ]. To calculate the approximate amount of force during the collision of the lower tip of a haptic wand and a virtual object, we developed MATLAB code which calculates the force based on Eq.…”

Section: Main Textmentioning

confidence: 99%

A toolkit for haptic force feedback in a telerobotic ultrasound system

et al. 2021

View full text Add to dashboard Cite

Objective To develop a collision engine (haptic force feedback simulator) compatible with a 5-degrees-of-freedom (DOF) haptic wand. This has broad applications such as telerobotic ultrasound systems. Integrating force feedback into systems is critical to optimize remote scanning. A collision engine compatible with a 5-DOF haptic wand was developed based on the Gilbert–Johnson–Keerthi algorithm. The collision engine calculated force during collision between the wand and a virtual object based on code developed using MATLAB. A proportional force was subsequently returned to a user via the haptic wand, thereby simulating the collision force for the user. Three experiments were conducted to assess the accuracy of the collision engine on curved and flat surfaces. Results The average errors in calculation of distances between the wand and virtual object were 2.1 cm, 3.4 cm, and 4.2 cm for the model of the human hand, cylinder, and cuboid, respectively. The collision engine accurately simulated forces on a flat surface, though was less accurate on curved surfaces. Future work will incorporate haptic force feedback into a telerobotic ultrasound system. The haptic force simulator presented here may also be used in the development of ultrasound simulators for training and education.

show abstract

A Dual-Arm 7-Degrees-of-Freedom Haptics-Enabled Teleoperation Test Bed for Minimally Invasive Surgery

Cited by 18 publications

References 17 publications

A Toolkit for Haptic Force Feedback in a Telerobotic Ultrasound System

A Toolkit for Haptic Force Feedback in a Telerobotic Ultrasound System

Robotics and AI for Teleoperation, Tele-Assessment, and Tele-Training for Surgery in the Era of COVID-19: Existing Challenges, and Future Vision

A toolkit for haptic force feedback in a telerobotic ultrasound system

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