The Benefits of Haptic Feedback in Telesurgery and Other Teleoperation Systems: A Meta-Analysis

Weber, Bernhard; Eichberger, Clara

doi:10.1007/978-3-319-20684-4_39

Cited by 19 publications

(12 citation statements)

References 43 publications

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“…Here, we will discuss to what degree engineering well-integrated tactile feedback could increase the integration of assistive robotic devices such as prostheses (Rosén et al, 2009; Marasco et al, 2011; Bensmaia and Miller, 2014), exoskeletons (Avizzano and Bergamasco, 1999; O'Malley and Gupta, 2008; Frisoli et al, 2009; Ben-Tzvi and Ma, 2015; Mallwitz et al, 2015; Shokur et al, 2016; Planthaber et al, 2018), and telerobotic devices (Gomez-Rodriguez et al, 2011; Gallo et al, 2012; Sengül et al, 2012; Pamungkas and Ward, 2014; Weber and Eichberger, 2015) into their users' body representations. Possibly, increased experience of the bodily self facilitates the use and increases the acceptance and performance of such devices (D'Alonzo and Cipriani, 2012; D'Alonzo et al, 2015; Imaizumi et al, 2016).…”

Section: Introductionmentioning

confidence: 99%

Feel-Good Robotics: Requirements on Touch for Embodiment in Assistive Robotics

et al. 2018

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The feeling of embodiment, i.e., experiencing the body as belonging to oneself and being able to integrate objects into one's bodily self-representation, is a key aspect of human self-consciousness and has been shown to importantly shape human cognition. An extension of such feelings toward robots has been argued as being crucial for assistive technologies aiming at restoring, extending, or simulating sensorimotor functions. Empirical and theoretical work illustrates the importance of sensory feedback for the feeling of embodiment and also immersion; we focus on the the perceptual level of touch and the role of tactile feedback in various assistive robotic devices. We critically review how different facets of tactile perception in humans, i.e., affective, social, and self-touch, might influence embodiment. This is particularly important as current assistive robotic devices – such as prostheses, orthoses, exoskeletons, and devices for teleoperation–often limit touch low-density and spatially constrained haptic feedback, i.e., the mere touch sensation linked to an action. Here, we analyze, discuss, and propose how and to what degree tactile feedback might increase the embodiment of certain robotic devices, e.g., prostheses, and the feeling of immersion in human-robot interaction, e.g., in teleoperation. Based on recent findings from cognitive psychology on interactive processes between touch and embodiment, we discuss technical solutions for specific applications, which might be used to enhance embodiment, and facilitate the study of how embodiment might alter human-robot interactions. We postulate that high-density and large surface sensing and stimulation are required to foster embodiment of such assistive devices.

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Section: Introductionmentioning

confidence: 99%

Feel-Good Robotics: Requirements on Touch for Embodiment in Assistive Robotics

et al. 2018

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“…In all these cases, adding haptic feedback can help improve the user performance in comparison to tasks that were carried out with visual feedback only ( Son et al, 2011 ; Wildenbeest et al, 2012 ; Weber and Eichberger, 2015 ). Particularly in the medical field, the augmentation of reality and the implementation of haptic feedback has proven to greatly improve the performance of surgeons, e.g., for minimally invasive surgery situations ( Gerovichev et al, 2002 ).…”

Section: Related Workmentioning

confidence: 99%

Exodex Adam—A Reconfigurable Dexterous Haptic User Interface for the Whole Hand

et al. 2022

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Applications for dexterous robot teleoperation and immersive virtual reality are growing. Haptic user input devices need to allow the user to intuitively command and seamlessly “feel” the environment they work in, whether virtual or a remote site through an avatar. We introduce the DLR Exodex Adam, a reconfigurable, dexterous, whole-hand haptic input device. The device comprises multiple modular, three degrees of freedom (3-DOF) robotic fingers, whose placement on the device can be adjusted to optimize manipulability for different user hand sizes. Additionally, the device is mounted on a 7-DOF robot arm to increase the user’s workspace. Exodex Adam uses a front-facing interface, with robotic fingers coupled to two of the user’s fingertips, the thumb, and two points on the palm. Including the palm, as opposed to only the fingertips as is common in existing devices, enables accurate tracking of the whole hand without additional sensors such as a data glove or motion capture. By providing “whole-hand” interaction with omnidirectional force-feedback at the attachment points, we enable the user to experience the environment with the complete hand instead of only the fingertips, thus realizing deeper immersion. Interaction using Exodex Adam can range from palpation of objects and surfaces to manipulation using both power and precision grasps, all while receiving haptic feedback. This article details the concept and design of the Exodex Adam, as well as use cases where it is deployed with different command modalities. These include mixed-media interaction in a virtual environment, gesture-based telemanipulation, and robotic hand–arm teleoperation using adaptive model-mediated teleoperation. Finally, we share the insights gained during our development process and use case deployments.

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“…to classify tissue by palpation or in vascular surgery to palpate for bifurcations by tactile impressions when advancing a guide wire. While several studies indicated potential benefits of haptic feedback [75][76][77], the development of suitable costeffective, sterilizable or disposable miniaturized sensors for the integration into robotic instruments still remains a technological challenge [78][79][80]. However, some interesting concepts for a novel force-sensing laparoscopic instrument and the integration of force sensing capabilities into the trocar have been developed recently [81,82].…”

Section: Adequate Information For the Surgeonmentioning

confidence: 99%

An Introduction to Robotically Assisted Surgical Systems: Current Developments and Focus Areas of Research

et al. 2021

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Purpose of Review Robotic assistance systems for diagnosis and therapy have become technically mature and widely available. Thus, they play an increasingly important role in patient care. This paper provides an overview of the general concepts of robotically assisted surgical systems, briefly revisiting historical and current developments in the surgical robotics market and discussing current focus areas of research. Comprehensiveness cannot be achieved in this format, but besides the general overview, references to further readings and more comprehensive reviews with regard to particular aspects are given. Therefore, the work at hand is considered as an introductory paper into the topic and especially addresses investigators, researchers, medical device manufacturers, and clinicians, who are new to this field. Recent Findings The current research in Robotically Assisted Surgical Systems (RASS) increasingly uses established robotic platforms. To minimize the patient trauma while optimizing the dexterity of the surgeon, miniaturized instruments and semi-autonomous assistance functions are developed. To provide the surgeon with all necessary information in an adequate manner, novel imaging sensors as well as techniques for multimodal sensory feedback and augmented reality are investigated. The Surgical Data Science applies data management and processing approaches including machine learning on medical data to provide optimal, individualized and contextual support to the surgeon. Summary Robotic systems will significantly influence future patient care. Since they must fulfill manifold medical, technical, regulatory and economic requirements, their development calls for a close, active and interdisciplinary cooperation between stakeholders from hospitals, industry and science.

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The Benefits of Haptic Feedback in Telesurgery and Other Teleoperation Systems: A Meta-Analysis

Cited by 19 publications

References 43 publications

Feel-Good Robotics: Requirements on Touch for Embodiment in Assistive Robotics

Feel-Good Robotics: Requirements on Touch for Embodiment in Assistive Robotics

Exodex Adam—A Reconfigurable Dexterous Haptic User Interface for the Whole Hand

An Introduction to Robotically Assisted Surgical Systems: Current Developments and Focus Areas of Research

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