The role of force feedback in surgery: analysis of blunt dissection

2005 ◽  
Author(s):  
C.R. Wagner ◽  
N. Stylopoulos ◽  
R.D. Howe
Keyword(s):  
Force Feedback ◽  
Blunt Dissection

The Role of Direct and Visual Force Feedback in Suturing Using a 7-DOF Dual-Arm Teleoperated System

2017 ◽  
Vol 10 (2) ◽  
pp. 276-287 ◽  
Author(s):  
Ali Talasaz ◽  
Ana Luisa Trejos ◽  
Rajni V. Patel
Keyword(s):  
Force Feedback ◽  
Visual Force Feedback ◽  
Dual Arm

Load-Regulating Mechanisms in Gait and Posture: Comparative Aspects

2000 ◽  
Vol 80 (1) ◽  
pp. 83-133 ◽  
Author(s):  
J. Duysens ◽  
F. Clarac ◽  
H. Cruse
Keyword(s):  
Functional Role ◽  
Stance Phase ◽  
Force Feedback ◽  
Sensory Information ◽  
Specific Load ◽  
Afferent Activity ◽  
Basic Principles ◽  
Load Sensing ◽  
The Central Nervous System

How is load sensed by receptors, and how is this sensory information used to guide locomotion? Many insights in this domain have evolved from comparative studies since it has been realized that basic principles concerning load sensing and regulation can be found in a wide variety of animals, both vertebrate and invertebrate. Feedback about load is not only derived from specific load receptors but also from other types of receptors that previously were thought to have other functions. In the central nervous system of many species, a convergence is found between specific and nonspecific load receptors. Furthermore, feedback from load receptors onto central circuits involved in the generation of rhythmic locomotor output is commonly found. During the stance phase, afferent activity from various load detectors can activate the extensor part in such circuits, thereby providing reinforcing force feedback. At the same time, the flexion is suppressed. The functional role of this arrangement is that activity in antigravity muscles is promoted while the onset of the next flexion is delayed as long as the limb is loaded. This type of reinforcing force feedback is present during gait but absent in the immoble resting animal.

On the role of wearable haptics for force feedback in teleimpedance control for dual-arm robotic teleoperation

2019 ◽  
Author(s):  
Janelle P. Clark ◽  
Gianluca Lentini ◽  
Federica Barontini ◽  
Manuel G. Catalano ◽  
Matteo Bianchi ◽  
...  
Keyword(s):  
Force Feedback ◽  
Dual Arm ◽  
Robotic Teleoperation

The Role of the End-Effector in the Perception of Virtual Surfaces Presented via Force-Feedback Haptic Interfaces

1999 ◽  
Author(s):  
Janet M. Weisenberger ◽  
Michael J. Krier ◽  
Martha A. Rinker ◽  
Sandra M. Kreidler
Keyword(s):  
Force Feedback ◽  
Considerable Effect ◽  
Haptic Interface ◽  
Haptic Interfaces ◽  
End Effector ◽  
Sinusoidal Gratings ◽  
Different Types ◽  
Force Profile ◽  
End Effectors

Abstract Differences in the force profile delivered by different types of end-effectors suggest that the choice of end-effector for a haptic interface can have a considerable effect on the perception of the human user. In the present study two different end-effector types were evaluated for two different haptic interfaces. Conventional probe-stylus end-effectors were tested on the PHANToM 3-degree-of-freedom (DOF) force feedback haptic interface and for the Immersion IE2000 2-DOF force feedback joystick. These were compared to thimble-gimbal end-effectors into which the index fingertip is inserted (standard for the PHANToM and specially constructed for the IE2000). In a task in which subjects were asked to judge the orientation of virtual sinusoidal gratings, no significant differences in performance were observed. Results are discussed in terms of tasks in which the differential cues delivered by different end-effectors might influence performance.

1P1-C10 The Role of Pulling Force Feedback in Brain Tumor Removal Rocotic Manipulator

2015 ◽  
Vol 2015 (0) ◽  
pp. _1P1-C10_1-_1P1-C10_4
Author(s):  
Hiroyuki CHINBE ◽  
Tetsuyou WATANABE ◽  
Takeru YONEYAMA ◽  
Hiroyuki KAGAWA ◽  
Yutaka HAYASHI ◽  
...  
Keyword(s):  
Brain Tumor ◽  
Force Feedback ◽  
Tumor Removal ◽  
Pulling Force

The role of visual and direct force feedback in robotics-assisted mitral valve annuloplasty

2016 ◽  
Vol 13 (3) ◽  
pp. e1787 ◽  
Author(s):  
Maria E. Currie ◽  
Ali Talasaz ◽  
Reiza Rayman ◽  
Michael W.A. Chu ◽  
Bob Kiaii ◽  
...  
Keyword(s):  
Mitral Valve ◽  
Force Feedback ◽  
Mitral Valve Annuloplasty

Master-slave control and evaluation of force sensing for robot-assisted minimally invasive surgery

2020 ◽  
Vol 47 (6) ◽  
pp. 903-914
Author(s):  
Kun Li ◽  
Shuai Ji ◽  
Guojun Niu ◽  
Yue Ai ◽  
Bo Pan ◽  
...  
Keyword(s):  
Minimally Invasive Surgery ◽  
Control Strategy ◽  
Force Feedback ◽  
Ex Vivo ◽  
Force Sensing ◽  
Surgical Instrument ◽  
Blunt Dissection ◽  
Robot Assisted ◽  
Interaction Forces ◽  
Content Type

Purpose Existing robot-assisted minimally invasive surgery (RMIS) system lacks of force feedback, and it cannot provide the surgeon with interaction forces between the surgical instruments and patient’s tissues. This paper aims to restore force sensation for the RMIS system and evaluate effect of force sensing in a master-slave manner. Design/methodology/approach This paper presents a four-DOF surgical instrument with modular joints and six-axis force sensing capability and proposes an incremental position mode master–slave control strategy based on separated position and orientation to reflect motion of the end of master manipulator to the end of surgical instrument. Ex-vivo experiments including tissue palpation and blunt dissection are conducted to verify the effect of force sensing for the surgical instrument. An experiment of trajectory tracking is carried out to test precision of the control strategy. Findings Results of trajectory tracking experiment show that this control strategy can precisely reflect the hand motion of the operator, and the results of the ex-vivo experiments including tissue palpation and blunt dissection illustrate that this surgical instrument can measure the six-axis interaction forces successfully for the RMIS. Originality/value This paper addresses the important role of force sensing and force feedback in RMIS, clarifies the feasibility to apply this instrument prototype in RMIS for force sensing and provides technical support of force feedback for further clinical application.

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