A teleoperative haptic feedback framework for computer-aided minimally invasive surgery

2021 ◽  
Author(s):  
Gregory Tholey
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Haptic Feedback ◽  
Computer Aided

A Dual-Arm 7-Degrees-of-Freedom Haptics-Enabled Teleoperation Test Bed for Minimally Invasive Surgery

2014 ◽  
Vol 8 (4) ◽  
Author(s):  
Ali Talasaz ◽  
Ana Luisa Trejos ◽  
Simon Perreault ◽  
Harmanpreet Bassan ◽  
Rajni V. Patel
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Degrees Of Freedom ◽  
Haptic Feedback ◽  
Sensory Substitution ◽  
Haptic Interfaces ◽  
Test Bed ◽  
Haptic Information ◽  
Dual Arm

This paper describes a dual-arm teleoperation (master-slave) system which has been developed to explore the effect of haptics in robotics-assisted minimally invasive surgery (RAMIS). This setup is capable of measuring forces in 7 degrees of freedom (DOF) and fully reflecting them to the operator through two 7-DOF haptic interfaces. An application of the test bed is in enabling the evaluation of the effect of replacing haptic feedback by other sensory cues such as visual representation of haptic information (sensory substitution). This paper discusses the design rationale, kinematic analysis and dynamic modeling of the robot manipulators, and the control system developed for the setup. Using the accurate model developed in this paper, a highly transparent haptics-enabled system can be achieved and used in robot-assisted telesurgery. Validation results obtained through experiments are presented and demonstrate the correctness and effectiveness of the developed models. The application of the setup for two RAMIS surgical tasks, a suture manipulation task and a tumor localization task, is described with different haptics modalities available through the developed haptics-enabled system for each application.

scholarly journals Robotic System to Evaluate Force Feedback in Minimally Invasive Computer Aided Surgery

2004 ◽  
Author(s):  
Hermann Mayer ◽  
Istva´n Nagy ◽  
Alois Knoll ◽  
Eva Schirmbeck ◽  
Robert Bauernschmitt
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Force Feedback ◽  
Haptic Feedback ◽  
Force Measurement ◽  
Operation Time ◽  
Experimental System ◽  
Open Platform ◽  
Recovery Times

We present an experimental system for robot assisted, minimally invasive surgery that is capable of force measurement and haptic feedback. While minimally invasive surgery with robots provides several advantages like reduced tissue trauma and shorter recovery times, there are also some inherent short-comings. Referring to surgeons, the most significant issue is the lack of haptic feedback. This often causes collateral trauma and leads to prolonged operation time. Therefore we have developed an open platform, which combines the advantages of present systems with the possibility of force reflection. We have included features known from commercial available systems, like full Cartesian control of the end effector, stereo vision and ergonomic input devices. We used the system to perform basic surgical tasks (like knot-tying) and to evaluate force feedback.

MiroSurge—Advanced User Interaction Modalities in Minimally Invasive Robotic Surgery

2010 ◽  
Vol 19 (5) ◽  
pp. 400-414 ◽  
Author(s):  
Andreas Tobergte
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Force Feedback ◽  
Haptic Feedback ◽  
User Interaction ◽  
Tactile Feedback ◽  
Surgical Instruments ◽  
Direct Perception ◽  
Force Vectors

This paper presents MiroSurge, a telepresence system for minimally invasive surgery developed at the German Aerospace Center (DLR), and introduces MiroSurge's new user interaction modalities: (1) haptic feedback with software-based preservation of the fulcrum point, (2) an ultrasound-based approach to the quasi-tactile detection of pulsating vessels, and (3) a contact-free interface between surgeon and telesurgery system, where stereo vision is augmented with force vectors at the tool tip. All interaction modalities aim to increase the user's perception beyond stereo imaging by either augmenting the images or by using haptic interfaces. MiroSurge currently provides surgeons with two different interfaces. The first option, bimanual haptic interaction with force and partial tactile feedback, allows for direct perception of the remote environment. Alternatively, users can choose to control the surgical instruments by optically tracked forceps held in their hands. Force feedback is then provided in augmented stereo images by constantly updated force vectors displayed at the centers of the teleoperated instruments, regardless of the instruments' position within the video image. To determine the centerpoints of the instruments, artificial markers are attached and optically tracked. A new approach to detecting pulsating vessels beneath covering tissue with an omnidirectional ultrasound Doppler sensor is presented. The measurement results are computed and can be provided acoustically (by displaying the typical Doppler sound), optically (by augmenting the endoscopic video stream), or kinesthetically (by a gentle twitching of the haptic input devices). The control structure preserves the fulcrum point in minimally invasive surgery and user commands are followed by the surgical instrument. Haptic feedback allows the user to distinguish between interaction with soft and hard environments. The paper includes technical evaluations of the features presented, as well as an overview of the system integration of MiroSurge.

Biomedical Robotics for Healthcare

2012 ◽  
pp. 160-169
Author(s):  
Yuichi Kurita ◽  
Atsutoshi Ikeda ◽  
Kazuyuki Nagata ◽  
Masazumi Okajima ◽  
Tsukasa Ogasawara
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Haptic Feedback ◽  
Training System ◽  
Haptic Information ◽  
General Surgery Residency ◽  
Related Information ◽  
Biomedical Robotics ◽  
Primary Obstacle

Haptic information is crucial in the execution of precise and dexterous manipulations. During minimally invasive surgery, medical doctors are required to indirectly sense force-related information from body organ tissue via forceps because they cannot directly touch the tissue. The evaluation of force-based skill is critical in the judgment of whether a person has adequate manipulation skills to conduct surgery procedures. Currently, simulation training in minimally invasive surgery is a required component of general surgery residency training. A primary obstacle in the development of a training simulator with a haptic feedback capability is its high cost. This chapter addresses two research issues that must be integrated in the development of a cost-effective haptic training system: the challenge of skill evaluation during laparoscopic surgery by measuring the force applied to forceps, and a novel haptic display based on a haptic augmented reality (AR) technique.

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