When Interfaces Make It Real

Racat, Margot; Capelli, Sonia

doi:10.1007/978-3-030-36922-4_3

Cited by 5 publications

(4 citation statements)

References 77 publications

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“…However, the ultimate result is no fidelity and no transparency because the feedback is delivered visually and the motion required to control the trajectory of the robotic hand feels unnatural, relying on the same open kinematic chain used in surgical robots. In fact, intuitiveness plays a fundamental role in achieving telepresence and effectiveness [27,28]. For intuitiveness, we intend the ability of the system to achieve high telepresence with minimal learning required.…”

Section: Palpation and Remote Palpationmentioning

confidence: 99%

How to define the correct guidelines for enhanced telepresence and task embodiment in remote palpation.

Costi,

Iida

2023

IOP Conf. Ser.: Mater. Sci. Eng.

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Teleoperated robots have been widely accepted in several fields of medical practice, enhancing human abilities and allowing remote operation. However, such technology has not been able yet to permeate areas such as primary care and physical examination. Such applications strongly rely on the quality of the interaction between doctor and patient, and on its multimodal nature. In order to achieve remote physical examination is thus mandatory to have a good doctor-robot interface, but what does good mean? Ultimately, the goal is for the user to achieve task embodiment, making the remote task feel like the in-person one. Several research groups have proposed a wide variety of interfaces, showcasing largely different methods of control and feedback, because of the absence of design guidelines. In this work, we argue that the ideal interface for a remote task should resemble as close as possible the experience provided by the in-person equivalent, keeping in consideration the nature of the target users. To support our claims, we analyze many remote interfaces and compare them with the respective in-person task. This analysis is not limited to the medical sector, with examples such as remote abdominal surgery, but it expands to all forms of teleoperation, up to nuclear waste handling and avionics.

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Section: Palpation and Remote Palpationmentioning

confidence: 99%

How to define the correct guidelines for enhanced telepresence and task embodiment in remote palpation.

Costi,

Iida

2023

IOP Conf. Ser.: Mater. Sci. Eng.

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“…Most of the studies in the literature are centered around the different ways to deliver tactile data back to the user. Transparency and intuitiveness, where intuitiveness means achieving telepresence with minimal learning, are fundamental for achieving good teleoperation and telepresence 23,24 . The simplest systems just show the data on a screen either by maintaining the spatial information recorded by the follower 25,26 , or through simulations [27][28][29] .…”

Section: Introductionmentioning

confidence: 99%

Multi-silicone Bilateral Soft Physical Twin as an Alternative to Traditional User Interfaces for Remote Palpation: a Comparative Study

Costi,

Iida

2023

Preprint

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Teleoperated medical technologies are a fundamental part of the healthcare system. From telemedicine to remote surgery, they allow remote diagnosis and treatment. However, the absence of any interface able to effectively reproduce the sense of touch and interaction with the patient prevents the implementation of teleoperated systems for primary care examinations, such as palpation. In this paper, we propose the first reported case of a soft robotic bilateral physical twin for remote palpation. By creating an entirely soft interface that can be used both to control the robot and receive feedback, the proposed device allows the user to achieve remote palpation by simply palpating the soft physical twin. This is achieved through a compact design showcasing 9 pneumatic chambers and exploiting multi-silicone casting to minimize cross-noise and allow teleoperation. A comparative study has been run against a traditional setup, and both the control and feedback of the physical twin are carefully analyzed. Despite distributed tactile feedback not achieving the same performance as the visual map, the soft control and visual feedback combination showcases a 5.1% higher accuracy. Moreover, the bilateral soft physical twin results always in a less invasive procedure, with 41% lower mechanical work exchanged with the remote phantom.

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“…Specifically, remote palpation can be achieved through teleoperation using a robotic palpation device 21 , 22 . Importantly, such a system may have high telepresence 23 , including tactile information 24 , 25 . Consequently, several high-fidelity haptic feedback 26 devices have been developed for use in conjunction with remote surgical systems.…”

Section: Introductionmentioning

confidence: 99%

Face mediated human–robot interaction for remote medical examination

Lalitharatne

Costi

Hashem

et al. 2022

Sci Rep

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Realtime visual feedback from consequences of actions is useful for future safety-critical human–robot interaction applications such as remote physical examination of patients. Given multiple formats to present visual feedback, using face as feedback for mediating human–robot interaction in remote examination remains understudied. Here we describe a face mediated human–robot interaction approach for remote palpation. It builds upon a robodoctor–robopatient platform where user can palpate on the robopatient to remotely control the robodoctor to diagnose a patient. A tactile sensor array mounted on the end effector of the robodoctor measures the haptic response of the patient under diagnosis and transfers it to the robopatient to render pain facial expressions in response to palpation forces. We compare this approach against a direct presentation of tactile sensor data in a visual tactile map. As feedback, the former has the advantage of recruiting advanced human capabilities to decode expressions on a human face whereas the later has the advantage of being able to present details such as intensity and spatial information of palpation. In a user study, we compare these two approaches in a teleoperated palpation task to find the hard nodule embedded in the remote abdominal phantom. We show that the face mediated human–robot interaction approach leads to statistically significant improvements in localizing the hard nodule without compromising the nodule position estimation time. We highlight the inherent power of facial expressions as communicative signals to enhance the utility and effectiveness of human–robot interaction in remote medical examinations.

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When Interfaces Make It Real

Cited by 5 publications

References 77 publications

How to define the correct guidelines for enhanced telepresence and task embodiment in remote palpation.

How to define the correct guidelines for enhanced telepresence and task embodiment in remote palpation.

Multi-silicone Bilateral Soft Physical Twin as an Alternative to Traditional User Interfaces for Remote Palpation: a Comparative Study

Face mediated human–robot interaction for remote medical examination

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