Force feedback in a piezoelectric linear actuator for neurosurgery

Abstract-A novel idea for improving transparency of teleoperation systems with force feedback is presented. This approach is based on the idea of sensory subtraction presented in [12], and consists of providing the operator with independently controlled kinesthetic and cutaneous feedback to improve the realism of haptic rendering of the remote environment (i.e., transparency), while preserving stability. More specifically, cutaneous force feedback is employed to recover transparency when a lack of kinesthetic feedback has to be enforced to keep the teleoperation loop stable. The viability of this approach is demonstrated with two experiments of teleoperated needle insertion. Results showed improved performance with respect to common control techniques not employing the proposed cutaneous compensation.

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“…The scenario considered is a simulated teleoperated needle insertion in soft tissue, along one direction [22].…”

Section: Resultsmentioning

confidence: 99%

Improving transparency in passive teleoperation by combining cutaneous and kinesthetic force feedback

Pacchierotti

Tirmizi

Bianchini

et al. 2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…A particular challenge in using force information in needle insertion is that the interaction with tissue is mediated by the needle and the force feedback on the grip includes both tip contact force and frictional forces between the tissue and the needle shaft [119]. In many cases, attempts were made to enhance the perception by identifying the mechanical model of the tissue and estimating the tip force through subtraction of the modeled force from the total measured force [120], [121].…”

Section: Needle Insertionmentioning

confidence: 99%

Haptics in Robot-Assisted Surgery: Challenges and Benefits

Enayati

Momi

Ferrigno

2016

IEEE Rev. Biomed. Eng.

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191

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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“…Haptics is widely considered a valuable navigation and manipulation tool during tele-operated surgical procedures [2,3]. In fact, it allows detecting local mechanical properties of the tissue being manipulated and distinguishing the presence of vessels [4,5]. Moreover, force feedback has been shown to enhance operators' performance in tele-operation in terms of completion time of a given task [6], accuracy [7], and surgical safety [8].…”

Section: Introductionmentioning

confidence: 99%

Hand–tool–tissue interaction forces in neurosurgery for haptic rendering

Aggravi

Momi

DiMeco³

et al. 2015

Med Biol Eng Comput

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Abstract:Haptics provides sensory stimuli that represent the interaction with a virtual or telemanipulated object, and it is considered a valuable navigation and manipulation tool during tele-operated surgical procedures. Haptic feedback can be provided to the user via cutaneous information and kinesthetic feedback. Sensory subtraction removes the kinesthetic component of the haptic feedback, having only the cutaneous component provided to the user. Such a technique guarantees a stable haptic feedback loop, while it keeps the transparency of the tele-operation system high, which means that the system faithfully replicates and render back the user's directives. This work focuses on checking whether the interaction forces during a bench model neurosurgery operation can lie in the solely cutaneous perception of the human finger pads. If this assumption is found true, it would be possible to exploit sensory subtraction techniques for providing surgeons with feedback from neurosurgery. We measured the forces exerted to surgical tools by three neurosurgeons performing typical actions on a brain phantom, using contact force sensors, whilst the forces exerted by the tools to the phantom tissue were recorded using a load cell placed under the brain phantom box. The measured surgeon-tool contact forces were 0.01 -3.49 N for the thumb and 0.01 -6.6 N for index and middle finger, whereas the measured tool-tissue interaction forces were from six to eleven times smaller than the contact forces, i.e., 0.01 -0.59 N. The measurements for the contact forces fit the range of the cutaneous sensitivity for the Powered by Edit orial Manager® and ProduXion Manager® from Aries Syst em s Corporat ionhuman finger pad, thus, we can say that, in a tele-operated robotic neurosurgery scenario, it would possible to render forces at the fingertip level by conveying haptic cues solely through the cutaneous channel of the surgeon's finger pads. This approach would allow high transparency and high stability of the haptic feedback loop in a teleoperation systemResponse to Reviewers: REVIEWER 1 Comment no. 1: The methodology of the submitted work is good and, since it is a bench model, it might allow to replace other similar systems presented in previous works. However, the authors should make an extra effort to increase the clarity of the text. The added section 2 is a good help to put the work in context. However, section 1 appears as too long and lacks focus. I would recommend to severely shorten section 1 and merge it with section 2. Our answer:We thank the reviewer for the positive opinion on our work. To improve the clarity of the introductory part, we have removed an example of sensory substitution reference and an example of sensory subtraction application reference. Moreover, we have merged Section 2 Related Works with Section 1 Introduction, which now comprises the related works as a subsection.Comment no. 2: Also section 5 could be reorganized to strengthen the papers conclusion. Our answer:We have modified Section 4 Discussion as follow...

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Force feedback in a piezoelectric linear actuator for neurosurgery

Cited by 40 publications

References 36 publications

Improving transparency in passive teleoperation by combining cutaneous and kinesthetic force feedback

Improving transparency in passive teleoperation by combining cutaneous and kinesthetic force feedback

Haptics in Robot-Assisted Surgery: Challenges and Benefits

Hand–tool–tissue interaction forces in neurosurgery for haptic rendering

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