A single-use haptic palpation probe for locating subcutaneous blood vessels in robot-assisted minimally invasive surgery

McKinley, Stephen; Garg, Animesh; Sen, Siddarth; Kapadia, Rishi; Murali, Adithyavairavan; Nichols, Kirk A.; Lim, Susan M. L.; Patil, Sachin; Abbeel, Pieter; Okamura, Allison M.; Goldberg, Ken

doi:10.1109/coase.2015.7294253

Cited by 70 publications

(49 citation statements)

References 35 publications

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“…Evaluation by 9 non-expert users through palpation in a virtual environment seems to suggest improvement in stiffness levels discrimination, compared to that of single finger stimulation. In [126] a haptic palpation probe is introduced for locating subcutaneous blood vessels. The simple design of the probe reduces its production cost, making the sensor disposable.…”

Section: Palpation and Tissue Stiffness Mappingmentioning

confidence: 99%

Haptics in Robot-Assisted Surgery: Challenges and Benefits

Enayati

Momi

Ferrigno

2016

IEEE Rev. Biomed. Eng.

181

131

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Abstract-Robotic surgery is transforming the current surgical practice, not only by improving the conventional surgical methods but also by introducing innovative robot-enhanced approaches that broaden the capabilities of clinicians. Being mainly of manmachine collaborative type, surgical robots are seen as media that transfer pre-and intra-operative information to the operator and reproduce his/her motion, with appropriate filtering, scaling, or limitation, to physically interact with the patient. The field, however, is far from maturity and, more critically, is still a subject of controversy in medical communities. Limited or absent haptic feedback is reputed to be among reasons that impede further spread of surgical robots. In this paper objectives and challenges of deploying haptic technologies in surgical robotics is discussed and a systematic review is performed on works that have studied the effects of providing haptic information to the users in major branches of robotic surgery. It has been tried to encompass both classical works and the state of the art approaches, aiming at delivering a comprehensive and balanced survey both for researchers starting their work in this field and for the experts.

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Section: Palpation and Tissue Stiffness Mappingmentioning

confidence: 99%

Haptics in Robot-Assisted Surgery: Challenges and Benefits

Enayati

Momi

Ferrigno

2016

IEEE Rev. Biomed. Eng.

181

131

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“…After several years during which the lack of haptic feedback was considered a limitation for the dV, 9 the mainstream opinion has become that robotic surgeons (necessarily trained on the dV) can compensate by using visual feedback, so that they do not suffer from that shortage. 10 On the other hand, many research studies claimed clear benefits from haptic feedback restoration for clinical applications/tasks requiring mechanical contrast perception for tissue discrimination (intraoperative palpation [11][12][13][14][15] ), precise tool-tissue interaction force rendering (incision/ dissection, 3,[16][17][18][19] catheter steering, 20 needle driving/suturing [21][22][23][24][25] ), or tissue/organ safe manipulation (tissue clutching, organ retraction 26,27 ).…”

Section: Introductionmentioning

confidence: 99%

Haptic feedback in the da Vinci Research Kit (dVRK): A user study based on grasping, palpation, and incision tasks

Saracino

Deguet

Staderini

et al. 2019

Robotics Computer Surgery

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Background It was suggested that the lack of haptic feedback, formerly considered a limitation for the da Vinci robotic system, does not affect robotic surgeons because of training and compensation based on visual feedback. However, conclusive studies are still missing, and the interest in force reflection is rising again. Methods We integrated a seven‐DoF master into the da Vinci Research Kit. We designed tissue grasping, palpation, and incision tasks with robotic surgeons, to be performed by three groups of users (expert surgeons, medical residents, and nonsurgeons, five users/group), either with or without haptic feedback. Task‐specific quantitative metrics and a questionnaire were used for assessment. Results Force reflection made a statistically significant difference for both palpation (improved inclusion detection rate) and incision (decreased tissue damage). Conclusions Haptic feedback can improve key surgical outcomes for tasks requiring a pronounced cognitive burden for the surgeon, to be possibly negotiated with longer completion times.

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“…For instance, numerous tactile sensing devices have been developed to estimate tactile information during static (point based) measurements, including indentation-based contact devices, aspiration devices, optical fiber devices, and non-contact devices [3]. Such devices are capable of providing accurate tactile information during static measurements of a single point, but they cannot scan soft tissue in a dynamic way, which is not a real-time solution [4]. Another area of investigation is directed towards using a torque sensor to model and compensate for grip force.…”

Section: Introductionmentioning

confidence: 99%

Learning to See Forces: Surgical Force Prediction with RGB-Point Cloud Temporal Convolutional Networks

Gao

Liu

Peven

et al. 2018

Lecture Notes in Computer Science

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Robotic surgery has been proven to offer clear advantages during surgical procedures, however, one of the major limitations is obtaining haptic feedback. Since it is often challenging to devise a hardware solution with accurate force feedback, we propose the use of "visual cues" to infer forces from tissue deformation. Endoscopic video is a passive sensor that is freely available, in the sense that any minimally-invasive procedure already utilizes it. To this end, we employ deep learning to infer forces from video as an attractive low-cost and accurate alternative to typically complex and expensive hardware solutions. First, we demonstrate our approach in a phantom setting using the da Vinci Surgical System affixed with an OptoForce sensor. Second, we then validate our method on an ex vivo liver organ. Our method results in a mean absolute error of 0.814 N in the ex vivo study, suggesting that it may be a promising alternative to hardware based surgical force feedback in endoscopic procedures.

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A single-use haptic palpation probe for locating subcutaneous blood vessels in robot-assisted minimally invasive surgery

Cited by 70 publications

References 35 publications

Haptics in Robot-Assisted Surgery: Challenges and Benefits

Haptics in Robot-Assisted Surgery: Challenges and Benefits

Haptic feedback in the da Vinci Research Kit (dVRK): A user study based on grasping, palpation, and incision tasks

Learning to See Forces: Surgical Force Prediction with RGB-Point Cloud Temporal Convolutional Networks

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