413 research outputs found
Prevalence of haptic feedback in robot-mediated surgery : a systematic review of literature
© 2017 Springer-Verlag. This is a post-peer-review, pre-copyedit version of an article published in Journal of Robotic Surgery. The final authenticated version is available online at: https://doi.org/10.1007/s11701-017-0763-4With the successful uptake and inclusion of robotic systems in minimally invasive surgery and with the increasing application of robotic surgery (RS) in numerous surgical specialities worldwide, there is now a need to develop and enhance the technology further. One such improvement is the implementation and amalgamation of haptic feedback technology into RS which will permit the operating surgeon on the console to receive haptic information on the type of tissue being operated on. The main advantage of using this is to allow the operating surgeon to feel and control the amount of force applied to different tissues during surgery thus minimising the risk of tissue damage due to both the direct and indirect effects of excessive tissue force or tension being applied during RS. We performed a two-rater systematic review to identify the latest developments and potential avenues of improving technology in the application and implementation of haptic feedback technology to the operating surgeon on the console during RS. This review provides a summary of technological enhancements in RS, considering different stages of work, from proof of concept to cadaver tissue testing, surgery in animals, and finally real implementation in surgical practice. We identify that at the time of this review, while there is a unanimous agreement regarding need for haptic and tactile feedback, there are no solutions or products available that address this need. There is a scope and need for new developments in haptic augmentation for robot-mediated surgery with the aim of improving patient care and robotic surgical technology further.Peer reviewe
Haptics: Science, Technology, Applications
This open access book constitutes the proceedings of the 13th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, EuroHaptics 2022, held in Hamburg, Germany, in May 2022. The 36 regular papers included in this book were carefully reviewed and selected from 129 submissions. They were organized in topical sections as follows: haptic science; haptic technology; and haptic applications
Bimanual Motor Strategies and Handedness Role During Human-Exoskeleton Haptic Interaction
Bimanual object manipulation involves multiple visuo-haptic sensory feedbacks
arising from the interaction with the environment that are managed from the
central nervous system and consequently translated in motor commands. Kinematic
strategies that occur during bimanual coupled tasks are still a scientific
debate despite modern advances in haptics and robotics. Current technologies
may have the potential to provide realistic scenarios involving the entire
upper limb extremities during multi-joint movements but are not yet exploited
to their full potential. The present study explores how hands dynamically
interact when manipulating a shared object through the use of two
impedance-controlled exoskeletons programmed to simulate bimanually coupled
manipulation of virtual objects. We enrolled twenty-six participants (2 groups:
right-handed and left-handed) who were requested to use both hands to grab
simulated objects across the robot workspace and place them in specific
locations. The virtual objects were rendered with different dynamic proprieties
and textures influencing the manipulation strategies to complete the tasks.
Results revealed that the roles of hands are related to the movement direction,
the haptic features, and the handedness preference. Outcomes suggested that the
haptic feedback affects bimanual strategies depending on the movement
direction. However, left-handers show better control of the force applied
between the two hands, probably due to environmental pressures for right-handed
manipulations
HAPTIC AND VISUAL SIMULATION OF BONE DISSECTION
Marco AgusIn bone dissection virtual simulation, force restitution represents the key to realistically mimicking a patient– specific operating environment. The force is rendered using haptic devices controlled by parametrized mathematical models that represent the bone–burr contact. This dissertation presents and discusses a haptic simulation of a bone cutting burr, that it is being developed as a component of a training system for temporal bone surgery. A physically based model was used to describe the burr– bone interaction, including haptic forces evaluation, bone erosion process and resulting debris. The model was experimentally validated and calibrated by employing a custom experimental set–up consisting of a force–controlled robot arm holding a high–speed rotating tool and a contact force measuring apparatus. Psychophysical testing was also carried out to assess individual reaction to the haptic environment. The results suggest that the simulator is capable of rendering the basic material differences required for bone burring tasks. The current implementation, directly operating on a voxel discretization of patientspecific 3D CT and MR imaging data, is efficient enough to provide real–time haptic and visual feedback on a low–end multi–processing PC platform.
Haptics: Science, Technology, Applications
This open access book constitutes the proceedings of the 12th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, EuroHaptics 2020, held in Leiden, The Netherlands, in September 2020. The 60 papers presented in this volume were carefully reviewed and selected from 111 submissions. The were organized in topical sections on haptic science, haptic technology, and haptic applications. This year's focus is on accessibility
CoVR: A Large-Scale Force-Feedback Robotic Interface for Non-Deterministic Scenarios in VR
We present CoVR, a novel robotic interface providing strong kinesthetic
feedback (100 N) in a room-scale VR arena. It consists of a physical column
mounted on a 2D Cartesian ceiling robot (XY displacements) with the capacity of
(1) resisting to body-scaled users' actions such as pushing or leaning; (2)
acting on the users by pulling or transporting them as well as (3) carrying
multiple potentially heavy objects (up to 80kg) that users can freely
manipulate or make interact with each other. We describe its implementation and
define a trajectory generation algorithm based on a novel user intention model
to support non-deterministic scenarios, where the users are free to interact
with any virtual object of interest with no regards to the scenarios' progress.
A technical evaluation and a user study demonstrate the feasibility and
usability of CoVR, as well as the relevance of whole-body interactions
involving strong forces, such as being pulled through or transported.Comment: 10 pages (without references), 14 pages tota
Haptic Interaction with 3D oriented point clouds on the GPU
Real-time point-based rendering and interaction with virtual objects is gaining popularity
and importance as di�erent haptic devices and technologies increasingly provide the basis
for realistic interaction. Haptic Interaction is being used for a wide range of applications
such as medical training, remote robot operators, tactile displays and video games. Virtual
object visualization and interaction using haptic devices is the main focus; this process
involves several steps such as: Data Acquisition, Graphic Rendering, Haptic Interaction
and Data Modi�cation. This work presents a framework for Haptic Interaction using the
GPU as a hardware accelerator, and includes an approach for enabling the modi�cation
of data during interaction. The results demonstrate the limits and capabilities of these
techniques in the context of volume rendering for haptic applications. Also, the use
of dynamic parallelism as a technique to scale the number of threads needed from the
accelerator according to the interaction requirements is studied allowing the editing of
data sets of up to one million points at interactive haptic frame rates
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