A Novel Pneumatic Force Sensor for Robot-Assisted Surgery

This paper presents a pneumatic-based force sensor, used to measure the force generated at the tip of a surgical instrument during robot-assisted minimally invasive surgery (RMIS). Despite the achievements of the robotic surgery, the lack of haptic feedback to the surgeon is still a great limitation, since through palpation the physician can distinguish consistency of tissues and determine the occurrence of an abnormal mass. Although a great effort has been made by researchers to develop novel haptic interfaces able to provide force feedback to the operator, far fewer works exist regarding the design of sensing systems for robotic surgery. In this respect, we propose a new force measurement method based on the relation between the air pressure variation inside a pneumatic balloon and the interaction force due to the contact between the balloon and an object. A performance comparison with a very-fine resolution commercial force sensor proves the feasibility and effectiveness of the proposed approach

The Effects of Force Feedback on Surgical Task Performance: A Meta-Analytical Integration

Since the introduction of surgical robots into clinical practice, there has been a lively debate about the potential benefits and the need to implement haptic feedback for the surgeon. In the current article, a quantitative review of empirical findings from 21 studies (N = 332 subjects) is provided. Using meta-analytical methods, we found moderate effects on task accuracy (g = .61), large effect sizes of additional force feedback on average forces (g = .82) and peak forces (g = 1.09) and no effect on task completion times (g = -.05) when performing surgical tasks. Moreover, the magnitude of the force feedback effect was attenuated when visual depth information was available

Breaking the Curse of Visual Analytics : Accommodating Virtual Reality in the Visualization Pipeline

Previous research has exposed the discrepancy between the subject of analysis (real world) and the actual data on which the analysis is performed (data world) as a critical weak spot in visual analysis pipelines. In this paper, we demonstrate how Virtual Reality (VR) can help to verify the correspondence of both worlds in the context of Information Visualization (InfoVis) and Visual Analytics (VA). Immersion allows the analyst to dive into the data world and collate it to familiar real-world scenarios. If the data world lacks crucial dimensions, then these are also missing in created virtual environments, which may draw the analyst’s attention to inconsistencies between the database and the subject of analysis. When situating VR in a generic visualization pipeline, we can confirm its basic equality compared to other mediums as well as possible benefits. To overcome the guarded stance of VR in InfoVis and VA, we present a structured analysis of arguments, exhibiting the circumstances that make VR a viable medium for visualizations. As a further contribution, we discuss how VR can aid in minimizing the gap between the data world and the real world and present a use case that demonstrates two solution approaches. Finally, we report on initial expert feedback attesting the applicability of our approach in a real-world scenario for crime scene investigation.publishe