358 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
Wearable haptic systems for the fingertip and the hand: taxonomy, review and perspectives
In the last decade, we have witnessed a drastic change in the form factor of audio and vision technologies, from heavy and grounded machines to lightweight devices that naturally fit our bodies. However, only recently, haptic systems have started to be designed with wearability in mind. The wearability of haptic systems enables novel forms of communication, cooperation, and integration between humans and machines. Wearable haptic interfaces are capable of communicating with the human wearers during their interaction with the environment they share, in a natural and yet private way. This paper presents a taxonomy and review of wearable haptic systems for the fingertip and the hand, focusing on those systems directly addressing wearability challenges. The paper also discusses the main technological and design challenges for the development of wearable haptic interfaces, and it reports on the future perspectives of the field. Finally, the paper includes two tables summarizing the characteristics and features of the most representative wearable haptic systems for the fingertip and the hand
Hand-Tool-Tissue Interaction Forces in Neurosurgery for Haptic Rendering
Haptics provides sensory stimuli that represent the interaction with a virtual or telemanipulated object, and it is considered a valuable navigation and manipulation tool during tele-operated surgical procedures. Haptic feedback can be provided to the user via cutaneous information and kinesthetic feedback. Sensory subtraction removes the kinesthetic component of the haptic feedback, having only the cutaneous component provided to the user. Such a technique guarantees a stable haptic feedback loop, while it keeps the transparency of the tele-operation system high, which means that the system faithfully replicates and render back the user's directives. This work focuses on checking whether the interaction forces during a bench model neurosurgery operation can lie in the solely cutaneous perception of the human finger pads. If this assumption is found true, it would be possible to exploit sensory subtraction techniques for providing surgeons with feedback from neurosurgery. We measured the forces exerted to surgical tools by three neurosurgeons performing typical actions on a brain phantom, using contact force sensors, whilst the forces exerted by the tools to the phantom tissue were recorded using a load cell placed under the brain phantom box. The measured surgeon-tool contact forces were 0.01 - 3.49 N for the thumb and 0.01 - 6.6 N for index and middle finger, whereas the measured tool- tissue interaction forces were from six to eleven times smaller than the contact forces, i.e., 0.01 - 0.59 N. The measurements for the contact forces fit the range of the cutaneous sensitivity for the human finger pad, thus, we can say that, in a tele-operated robotic neurosurgery scenario, it would possible to render forces at the fingertip level by conveying haptic cues solely through the cutaneous channel of the surgeon's finger pads. This approach would allow high transparenc
Cutaneous Force Feedback as a Sensory Subtraction Technique in Haptics
A novel sensory substitution technique is presented. Kinesthetic and
cutaneous force feedback are substituted by cutaneous feedback (CF) only,
provided by two wearable devices able to apply forces to the index finger and
the thumb, while holding a handle during a teleoperation task. The force
pattern, fed back to the user while using the cutaneous devices, is similar, in
terms of intensity and area of application, to the cutaneous force pattern
applied to the finger pad while interacting with a haptic device providing both
cutaneous and kinesthetic force feedback. The pattern generated using the
cutaneous devices can be thought as a subtraction between the complete haptic
feedback (HF) and the kinesthetic part of it. For this reason, we refer to this
approach as sensory subtraction instead of sensory substitution. A needle
insertion scenario is considered to validate the approach. The haptic device is
connected to a virtual environment simulating a needle insertion task.
Experiments show that the perception of inserting a needle using the
cutaneous-only force feedback is nearly indistinguishable from the one felt by
the user while using both cutaneous and kinesthetic feedback. As most of the
sensory substitution approaches, the proposed sensory subtraction technique
also has the advantage of not suffering from stability issues of teleoperation
systems due, for instance, to communication delays. Moreover, experiments show
that the sensory subtraction technique outperforms sensory substitution with
more conventional visual feedback (VF)
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ŒëŹž (ììŹ)-- ììžëíê” ëíì : êž°êłíêł”êł”íë¶, 2016. 2. ìŽëì€.We propose a novel design of cutaneous fingertip haptic device and approach of integrating pseudo-haptics into our cutaneous haptic device. With 2-DoF cutaneous device, angle-force calibration result is presented for its operation. Then, 3-DoF cutaneous haptic device is designed for more realistic contact feedback in virtual reality (VR). Preliminary result of integrating cutaneous device and hand tracking device for complete wearable haptic interface is also demonstrated. Meanwhile, we explore possible utility of pseudo-haptics for cutaneous fingertip haptic device, whose performance is inherently limited due to the lack of kinesthetic feedback. We experimentally demonstrate that: 1) pseudo-haptics can render virtual stiffness to be more rigid or softer only by modulating visual cueand 2) pseudo-haptics can be used to expand the range of the perceived virtual stiffness to be doubled.Chapter 1 Introduction 1
1.1 Motivation and Objectives 1
1.2 Related Works 3
Chapter 2 Cutaneous Fingertip Haptic Device 6
2.1 2-DoF Cutaneous Haptic Device 6
2.1.1 Design and Specification 6
2.1.2 Angle-Force Calibration 8
2.1.3 Application of 2-DoF Cutaneous Haptic Device 10
2.2 3-DoF Cutaneous Haptic Device 11
2.2.1 Design and Specification 11
2.2.2 Control Design 14
2.2.3 IMU Distortion Offset Calibration 17
2.2.4 Device Validation 20
2.2.5 Integration with Wearable Hand Tracking Interface 21
Chapter 3 Pseudo-Haptics with Cutaneous Haptic Feedback 25
3.1 Limitation of Cutaneous Haptic Device 25
3.2 Application of Pseudo-Haptics Effect 26
Chapter 4 Experimental Study 28
4.1 Experimental Settings 28
4.2 Experiment #1 32
4.3 Experiment #2 34
4.4 Experiment #3 36
4.5 Discussion 38
Chapter 5 Conclusion and Future Work 40
5.1 Conclusion 40
5.2 Future Work 41
Bibliography 42
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Electrotactile feedback applications for hand and arm interactions: A systematic review, meta-analysis, and future directions
Haptic feedback is critical in a broad range of
human-machine/computer-interaction applications. However, the high cost and low
portability/wearability of haptic devices remain unresolved issues, severely
limiting the adoption of this otherwise promising technology. Electrotactile
interfaces have the advantage of being more portable and wearable due to their
reduced actuators' size, as well as their lower power consumption and
manufacturing cost. The applications of electrotactile feedback have been
explored in human-computer interaction and human-machine-interaction for
facilitating hand-based interactions in applications such as prosthetics,
virtual reality, robotic teleoperation, surface haptics, portable devices, and
rehabilitation. This paper presents a technological overview of electrotactile
feedback, as well a systematic review and meta-analysis of its applications for
hand-based interactions. We discuss the different electrotactile systems
according to the type of application. We also discuss over a quantitative
congregation of the findings, to offer a high-level overview into the
state-of-art and suggest future directions. Electrotactile feedback systems
showed increased portability/wearability, and they were successful in rendering
and/or augmenting most tactile sensations, eliciting perceptual processes, and
improving performance in many scenarios. However, knowledge gaps (e.g.,
embodiment), technical (e.g., recurrent calibration, electrodes' durability)
and methodological (e.g., sample size) drawbacks were detected, which should be
addressed in future studies.Comment: 18 pages, 1 table, 8 figures, under review in Transactions on
Haptics. This work has been submitted to the IEEE for possible publication.
Copyright may be transferred without notice, after which this version may no
longer be accessible.Upon acceptance of the article by IEEE, the preprint
article will be replaced with the accepted versio
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