The use of haptics in medical applications

Fager, Pehr-Johan

doi:10.1581/mrcas.2004.010102

Cited by 10 publications

(12 citation statements)

References 12 publications

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“…19 One particular aspect of the haptic experience is active manipulation that adds the element of choice, control, and conscious movements: this makes learning more engaging and motivating to trainees. 19,20 The models of haptic object exploration developed by Klatzky and Lederman (1993) suggest that procedural knowledge of what to do and information acquired during exploration both contribute to the fidelity and precision of haptic perception. 21 The first challenge of the development of this model was to create realistic simulated organs with realistic haptic feedback, to be able to perform a laparoscopic Nissen fundoplication.…”

Section: Discussionmentioning

confidence: 99%

Developing a Realistic Model for the Training of the Laparoscopic Nissen Fundoplication

Botden

Goossens

Jakimowicz

2010

Simulation in Healthcare: The Journal of the Society for Simulation in Healthcare

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Section: Discussionmentioning

confidence: 99%

Developing a Realistic Model for the Training of the Laparoscopic Nissen Fundoplication

Botden

Goossens

Jakimowicz

2010

Simulation in Healthcare: The Journal of the Society for Simulation in Healthcare

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“…The literature shows that using repetitive VR training can improve the learning curve before practicing on real situations [10,20,44]. In our future works, we plan to let each group iterate on the same medium (software or VR prototype), then analyze the total errors made, time spent and iterations needed to assess if it implies training time gains and effectiveness.…”

Section: Additional Studiesmentioning

confidence: 99%

Ad-hoc Study on Soldiers Calibration Procedure in Virtual Reality

Taupiac¹,

Hodriguez²,

Strauss³

et al. 2019

2019 IEEE Conference on Virtual Reality and 3D User Interfaces (VR)

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HAL is a multidisciplinary open access archive for the deposit and dissemination of scientific research documents, whether they are published or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers. L'archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des établissements d'enseignement et de recherche français ou étrangers, des laboratoires publics ou privés. Copyright

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“…They did not include force measurement. However, the necessity of haptic feedback in robotic surgery has been discussed controversially by surgeons and haptic engineers (Bethea et al, 2004;Fager, 2004;Hu, Tholey, Desai, & Castellanos, 2002;MacFarlane, Rosen, Hannaford, Pellegrini, & Sinanan, 1999). At the Rensselaer Polytechnic Institute, a robotic system capable of knottying was developed (Kang & Wen, 2001), but they mainly focused on force control and have used dedicated instruments for knot-tying.…”

Section: Related Workmentioning

confidence: 99%

Haptic Feedback in a Telepresence System for Endoscopic Heart Surgery

Mayer

Nágy²,

Knoll

et al. 2007

Presence: Teleoperators and Virtual Environments

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The implementation of telemanipulator systems for cardiac surgery enabled heart surgeons to perform delicate minimally invasive procedures with high precision under stereoscopic view. At present, commercially available systems do not provide force-feedback or Cartesian control for the operating surgeon. The lack of haptic feedback may cause damage to tissue and can cause breaks of suture material. In addition, minimally invasive procedures are very tiring for the surgeon due to the need for visual compensation for the missing force feedback. While a lack of Cartesian control of the end effectors is acceptable for surgeons (because every movement is visually supervised), it prevents research on partial automation. In order to improve this situation, we have built an experimental telemanipulator for endoscopic surgery that provides both force-feedback (in order to improve the feeling of immersion) and Cartesian control as a prerequisite for automation. In this article, we focus on the inclusion of force feedback and its evaluation. We completed our first bimanual system in early 2003 (EndoPAR Endoscopic Partial Autonomous Robot). Each robot arm consists of a standard robot and a surgical instrument, hence providing eight DOF that enable free manipulation via trocar kinematics. Based on the experience with this system, we introduced an improved version in early 2005. The new ARAMIS system (Autonomous Robot Assisted Minimally Invasive Surgery) has four multi-purpose robotic arms mounted on a gantry above the working space. Again, the arms are controlled by two force-feedback devices, and 3D vision is provided. In addition, all surgical instruments have been equipped with strain gauge force sensors that can measure forces along all translational directions of the instrument's shaft. Force-feedback of this system was evaluated in a scenario of robotic heart surgery, which offers an impression very similar to the standard, open procedures with high immersion. It enables the surgeon to palpate arteriosclerosis, to tie surgical knots with real suture material, and to feel the rupture of suture material. Therefore, the hypothesis that haptic feedback in the form of sensory substitution facilitates performance of surgical tasks was evaluated on the experimental platform described in the article (on the EndoPAR version). In addition, a further hypothesis was explored: The high fatigue of surgeons during and after robotic operations may be caused by visual compensation due to the lack of force-feedback (Thompson,

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The use of haptics in medical applications

Cited by 10 publications

References 12 publications

Developing a Realistic Model for the Training of the Laparoscopic Nissen Fundoplication

Developing a Realistic Model for the Training of the Laparoscopic Nissen Fundoplication

Ad-hoc Study on Soldiers Calibration Procedure in Virtual Reality

Haptic Feedback in a Telepresence System for Endoscopic Heart Surgery

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