The role of force feedback in surgery: analysis of blunt dissection

Wagner, Christopher R.; Stylopoulos, Nicholas; Howe, Robert D.

doi:10.1109/haptic.2002.998943

Cited by 288 publications

(180 citation statements)

References 12 publications

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“…However, the disadvantage of using such manipulators is the loss of force information at the tip. Having accurate knowledge about the interaction forces between the manipulator and tissue is important for the outcome of the procedure [5]. It can be used to provide surgeons with force feedback, thereby enabling more precise manipulation of the tissue.…”

Section: Introductionmentioning

confidence: 99%

Force sensing in continuum manipulators using fiber Bragg grating sensors

Khan

Roesthuis

Misra

2017

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Abstract-The presence of force feedback in medical instruments has been proven to reduce tissue damage. In order to provide force feedback, information about the interaction forces between the instrument and the environment must be known. Direct measurement of these forces by commercial sensors is not feasible due to space limitations. Thus, in this study we propose to estimate the interaction forces using strain measurements from Fiber Bragg Grating (FBG) sensors. These measurements can also be used for shape sensing and as a result both force and shape can be sensed simultaneously. For force sensing two models are proposed and compared. The first is based on a Rigid Link approximation, while the second uses the Cosserat rod theory. The models are validated experimentally using a tendon-driven continuum manipulator that is subjected to forces at the tip. The force estimates from the models are compared to the measurements from a commercial force sensor. Mean absolute errors of 11.2 mN (6.9%) and 15.9 mN (8.3%) are observed for the Rigid Link model and Cosserat model, respectively.

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Section: Introductionmentioning

confidence: 99%

Force sensing in continuum manipulators using fiber Bragg grating sensors

Khan

Roesthuis

Misra

2017

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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“…The values in practice are typically adjusted empirically. In this paper, the values are decided by the poles that the root-locus method provides for the transfer functions (16), (17), and the desired cut-off frequency. The poles can be either real or complex.…”

Section: Fig 4 Block Diagram Of the αβ-Tracker For Position And Velmentioning

confidence: 99%

“…However, the paper does not deal with force feedback. Some authors present research with improvements of performance if force feedback is provided during robotic surgery [16]. Force feedback in robotic surgery may be provided by the use of dedicated force sensors [17] that again complicate the design and increase costs.…”

Section: Introductionmentioning

confidence: 99%

Enhanced Pseudo-sensorless Bilateral Teleoperation by PLL αβ-tracker and FPGA

Hace

Franc

2014

Automatika

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Original scientific paperIn this paper, the problem of external sensors within bilateral teleoperation is addressed. We propose a Phase Locked Loop (PLL) αβ-tracker that presents an enhanced approach for position and velocity estimation. The proposed approach offers some advantages over the method presented in our previous research that was introduced to enable pseudo-sensorless teleoperation. Such approach applies PMLSM actuators with analog Hall sensors built in a motor housing. They allow obtaining sufficient position, velocity, and force information for teleoperation by a haptic interface. Furthermore, FPGA has been utilized for the implementation in order to achieve high control rate that was already introduced as a necessity in cutting edge performance systems. However, main advantages of the method presented in this paper is attributed to improved system performance due to the better signal-noise ratio and to enhanced flexibility of hardware resources consumption. Thus, high-performance bilateral control can be achieved. Such bilateral teleoperation with a dedicated haptic interface can significantly improve surgical robotics. The proposed approach was experimentally validated by the simple 1-DoF laboratory bilateral teleoperation system. Key words: Velocity Estimation, Phase Locked Loop, Bilateral Teleoperation, Haptics, FPGA Poboljšana pseudo-bezsenzorna bilateralna teleoperacija korištenjem PLL αβ estimatora i FPGA. Glavni predmet ovog rada je problematika korištenja eksternih senzora u procesu bilateralne teleoperacije. U radu je predložen αβ estimator temeljen na principu fazno zatvorene petlje (eng. Phase Locked Loop, PLL) koji se učinkovito koristi za problem istovremene estimacije pozicije i brzine. Predloženi pristup pruža odreîene prednosti u odnosu na metode koje smo prethodno razvili za ostvarenje pseudo-bezsenzorne teleoperacije. Pristup primjenjuje PMLSM aktuatore s analognim Hallovim sondama ugraîenih u metalno kućište. Oni se koriste za dobivanje dovoljno informacija o poziciji, brzini i sili, za teleoperaciju s haptičkim sučeljem. Nadalje, za omogućavanje izvoîenja upravljačkog algoritma s vrlo visokom frekvencijom u svrhu implementacije korišten je FPGA sklop, koji se već pokazao kao nužnost u primjeni na sustavima s visokom razinom performansi. Unatoč tome, glavna prednost metode koja je predložena u ovom radu odnosi se na poboljšanje performansi sustava zbog boljeg omjera signala i šuma te povećanu fleksibilnost potrošnje sklopovskih resursa. Prema tome, moguće je ostvariti bilateralno upravljanje s visokim performansama. Takva bilateralna teleoperacija s prilagoîenim haptičnim sučeljem može utjecati na značajna poboljšanja u kirurškoj robotici. Predloženi pristup je eksperimentalno validiran na jednostavnom bilateralnom teleoperacijskom sustavu s jednim stupnjem slobode.Ključne riječi: estimacija brzine, fazno zatvorena petlja, bilateralna teleoperacija, haptično sučelje, FPGA

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“…Another study found the benefits of haptic feedback in a skill training task to be less than clear-cut [5]. Others have found that force feedback can reduce the total force exerted by the user of a surgical robot on surrounding tissues while performing a blunt dissection [6]. It was also demonstrated that, by encoding force information redundantly through both the amplitude and frequency of vibrations on the fingertips, users were able to operate a teleoperation system and judge the weight of objects held by a remote robot [7].…”

Section: Introductionmentioning

confidence: 99%

An initial study of visuohaptic simulation of point-charge interactions

Park

Kim

Tan

et al. 2010

2010 IEEE Haptics Symposium

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We report an initial study on the use of visuohaptic simulation in teaching STEM (Science, Technology, Engineering and Mathematics) topics, with particular emphasis on physics concepts related to the learning of nanotechnology at the undergraduate level. Visuohaptic simulations of point charges and their interactions were developed. Thirty-eight undergraduate students from a physics lab course were recruited to participate in an educational study. Half of the students were assigned to a visuohaptic (VH) group where they could see as well as feel interaction forces rendered with a Falcon force-feedback device. The other half of the students were assigned to a visual (V) group where they could interact with the same simulation via a computer mouse but did not feel any forces. Results from a 10-question content test showed that both groups benefited from the computer simulation. There were no statistical differences between the VH and V groups, presumably due to the relatively small number of participants who completed quantitative assessments. However, qualitative results from observations and interviews indicated that students in the VH groups were more motivated and engaged in the lab activities, reported more positive attitude towards learning, and felt more confident about their understanding and retention of knowledge. Our findings have been used to design a larger-scale study that will further investigate the use of visuohaptic technology in nanotechnology education.

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The role of force feedback in surgery: analysis of blunt dissection

Cited by 288 publications

References 12 publications

Force sensing in continuum manipulators using fiber Bragg grating sensors

Force sensing in continuum manipulators using fiber Bragg grating sensors

Enhanced Pseudo-sensorless Bilateral Teleoperation by PLL αβ-tracker and FPGA

An initial study of visuohaptic simulation of point-charge interactions

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