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A Balloon Based Haptic Feedback System For Minimally Invasive And Robotic Surgical Instrumentation
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Book Synopsis A Balloon-based Haptic Feedback System for Minimally Invasive and Robotic Surgical Instrumentation by : Adrienne Therese Higa
Download or read book A Balloon-based Haptic Feedback System for Minimally Invasive and Robotic Surgical Instrumentation written by Adrienne Therese Higa and published by . This book was released on 2006 with total page 240 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Haptics For Teleoperated Surgical Robotic Systems by : Mahdi Tavakoli
Download or read book Haptics For Teleoperated Surgical Robotic Systems written by Mahdi Tavakoli and published by World Scientific. This book was released on 2008-04-14 with total page 179 pages. Available in PDF, EPUB and Kindle. Book excerpt: An important obstacle in Minimally Invasive Surgery (MIS) is the significant degradation of haptic feedback (sensation of touch) to the surgeon about surgical instrument's interaction with tissue. This monograph is concerned with devices and methods required for incorporating haptic feedback in master-slave robotic MIS systems. In terms of devices, novel mechanisms are designed including a surgical end-effector (slave) with full force sensing capabilities and a surgeon-robot interface (master) with full force feedback capabilities. Using the master-slave system, various haptic teleoperation control schemes are compared in terms of stability and performance, and passivity-based time delay compensation for haptic teleoperation over a long distance is investigated. The monograph also compares haptic feedback with visual feedback and with substitution for haptic feedback by other sensory cues in terms of surgical task performance.
Book Synopsis Tactile Sensing and Displays by : Javad Dargahi
Download or read book Tactile Sensing and Displays written by Javad Dargahi and published by John Wiley & Sons. This book was released on 2012-11-06 with total page 287 pages. Available in PDF, EPUB and Kindle. Book excerpt: Comprehensively covers the key technologies for the development of tactile perception in minimally invasive surgery Covering the timely topic of tactile sensing and display in minimally invasive and robotic surgery, this book comprehensively explores new techniques which could dramatically reduce the need for invasive procedures. The tools currently used in minimally invasive surgery (MIS) lack any sort of tactile sensing, significantly reducing the performance of these types of procedures. This book systematically explains the various technologies which the most prominent researchers have proposed to overcome the problem. Furthermore, the authors put forward their own findings, which have been published in recent patents and patent applications. These solutions offer original and creative means of surmounting the current drawbacks of MIS and robotic surgery. Key features:- Comprehensively covers topics of this ground-breaking technology including tactile sensing, force sensing, tactile display, PVDF fundamentals Describes the mechanisms, methods and sensors that measure and display kinaesthetic and tactile data between a surgical tool and tissue Written by authors at the cutting-edge of research into the area of tactile perception in minimally invasive surgery Provides key topic for academic researchers, graduate students as well as professionals working in the area
Book Synopsis Haptics-enabled Teleoperation for Robotics-assisted Minimally Invasive Surgery by : Ali Talasaz
Download or read book Haptics-enabled Teleoperation for Robotics-assisted Minimally Invasive Surgery written by Ali Talasaz and published by . This book was released on 2012 with total page 304 pages. Available in PDF, EPUB and Kindle. Book excerpt: The lack of force feedback (haptics) in robotic surgery can be considered to be a safety risk leading to accidental tissue damage and puncturing of blood vessels due to excessive forces being applied to tissue and vessels or causing inefficient control over the instruments because of insufficient applied force. This project focuses on providing a satisfactory solution for introducing haptic feedback in robotics-assisted minimally invasive surgical (RAMIS) systems. The research addresses several key issues associated with the incorporation of haptics in a master-slave (teleoperated) robotic environment for minimally invasive surgery (MIS). In this project, we designed a haptics-enabled dual-arm (two masters - two slaves) robotic MIS testbed to investigate and validate various single-arm as well as dual-arm teleoperation scenarios. The most important feature of this setup is the capability of providing haptic feedback in all 7 degrees of freedom (DOF) required for RAMIS (3 translations, 3 rotations and pinch motion of the laparoscopic tool). The setup also enables the evaluation of the effect of replacing haptic feedback by other sensory cues such as visual representation of haptic information (sensory substitution) and the hypothesis that surgical outcomes may be improved by substituting or augmenting haptic feedback by such sensory cues. To provide realistic haptic feedback, it is necessary to measure forces acting at the tip of the laparoscopic instruments in all appropriate directions, as well as when gripping, cutting or palpating tissue. In order to achieve this, we have incorporated two types of laparoscopic instruments in the testbed: A sensorized da Vinci tool, with the capability of measuring grasping forces provided by several strain gauges embedded in the tool shaft, and a customized instrument, the Tactile Sensing Instrument (TSI), which has been developed in our laboratory for soft-tissue palpation in RAMIS. Two surgical scenarios are considered in this project: Tumor localization in soft-tissue palpation, and endoscopic suturing. The first application is to localize tumors embedded in liver and lung tissue through the single-arm master-slave teleoperation system. Since the stiffness of a tumor is higher than that of healthy tissue, it can be distinguished as a hard nodule during remote palpation. Tactile sensing is a method that can be used in RAMIS to localize cancerous tumors prior to performing ablative therapies. However, its performance is highly dependent on the consistency of the exploration force. Using the customized tactile sensing instrument, the pressure distribution over the tissue is captured and provided as a color contour map on a screen. In order to apply the exploration force consistently over the tissue, different force feedback modalities are incorporated with tactile sensing feedback: Direct reflection of force feedback, visual presentation of interaction forces, and a fusion method utilizing an autonomous force control for the exploration force in the palpation direction and direct reflection of the force measured at the location of the tumor to the operator's fingers through the grasper mechanism of the haptic interface. The problem of incorporating haptic feedback in robot-assisted endoscopic suturing is explored as the next telesurgery scenario. The dual-arm teleoperation setup is used for this application. In order to assess the quality of suturing, we divide the suturing task into two phases: stitching and knot tying. Each phase consists of several well-specified sub-tasks. The experiments are performed in three modes: without force feedback, with visual force feedback and with direct force reflection to the user. Three levels are considered for the visual feedback presented to the user. The main objective of showing force in different levels is to assure the user that the force being applied on the suture is sufficient to end up with a secure knot. The main focus on this work is to explore which way of presenting force feedback can be more effectively used, and how each modality can help the user to increase the performance.
Book Synopsis Investigation of Multi-Modal Haptic Feedback Systems for Robotic Surgery by : Ahmad Abiri
Download or read book Investigation of Multi-Modal Haptic Feedback Systems for Robotic Surgery written by Ahmad Abiri and published by . This book was released on 2017 with total page 183 pages. Available in PDF, EPUB and Kindle. Book excerpt: The advent of minimally invasive surgery (MIS) led to significant benefits for patients at a cost of increase technical difficulty for surgeons. Robotic minimally invasive surgery (RMIS) was introduced to help eliminate some of the outstanding challenges by introducing improvements such as enhanced 3D vision and additional degrees of freedom. Unfortunately, RMIS resulted in a complete loss of haptic feedback, a problem that has persisted even after more than a decade of technology development. The limitations introduced by the loss of feedback in robotic surgery gave birth to innovations and significant research on haptic feedback systems (HFS). These systems aimed to provide an artificial sense of touch. Researchers have focused on many varieties of feedback technologies, most often relying on one specific feedback modality to help improve performance in a few, limited robotic surgical procedures. This research project set out to investigate multi-modal haptic feedback systems capable of providing benefits for many different robotic surgical applications. Having inherited an existing tactile feedback system designed for reducing crush injuries in robotic surgical procedures, this project implemented various critical enhancements for pneumatic normal force tactile feedback. Improvements to the sensing technology such as design of shear sensing mechanisms helped expand the application of haptics beyond grip force reduction. The development and integration of additional modalities of feedback including kinesthetic force feedback and vibration feedback, and design of a highly configurable software architecture allowed the application of the multi-modal HFS in several different RMIS applications. Evaluation of the system for knot tying in robotic surgery showed significant benefits in reducing suture breakage and improving knot quality. Application of the multi-modal HFS for palpation in robotic surgery helped improve detection non-compressible structures such as tumors and vessels in soft tissue phantoms. Finally, the system improved upon the previously developed unimodal tactile feedback systems with regards to reduction of grip force in RMIS. The results of these investigations highlight the importance of developing multi-modal haptic feedback systems that are able simulate the synergistic relationship between the various feedback modalities involved in real human touch. Robotic surgical systems have long been held back by their lack of comprehensive haptic feedback solutions. Multi-modal haptic feedback systems hold the promise of eliminating this long-standing problem and helping expand the application of robotics in surgical sciences.
Book Synopsis Toward Wearable Pneumatic Haptic Devices for Microscale Force Feedback Applications by : Athena D. Frazier
Download or read book Toward Wearable Pneumatic Haptic Devices for Microscale Force Feedback Applications written by Athena D. Frazier and published by . This book was released on 2010 with total page 150 pages. Available in PDF, EPUB and Kindle. Book excerpt: "The sense of touch, or the haptic sensory system, is the largest sensory system humans have, and it is used in numerous ways to allow humans to interact with their environment and perform tasks. The sense of touch allows humans to manipulate objects effortlessly, feel the textures of various items, understand where their bodies are in relation to the world, and obtain a better understanding of the objects with which they interact. As robotic systems have become more intelligent and capable in recent decades, they have started replacing or aiding humans in the performance of a variety of tasks in different fields. The addition of haptic feedback to systems and devices allows a human user to gain a more complete understanding of the remote environment they are working in. Several applications, such as robotic minimally invasive surgery (MIS) and virtual reality gaming, have drawn interest for integrating haptic or tactile feedback onto remote operating tools. While both research studies and commercial products have clearly demonstrated the benefits of adding haptic feedback, many open questions remain for reaching the full potential of haptic feedback. This research focuses on investigating how light-weight, low-cost pneumatic haptic devices can be deployed on human hands, possibly in multiple locations, to enhance user comprehension of force feedback. The aim is to enhance the understanding of microscale pneumatic devices in their potential and limitations as a wearable haptic feedback system. This work investigates the design, construction, and testing of a binary pneumatic tactile display. Pneumatically actuated devices are chosen because they are light-weight, low cost, and less-invasive in nature. Arrays of pneumatic balloons of different sizes were designed and constructed by taking into consideration the ease of the fabrication process and the effectiveness of feedback when placed on human hands. Human perception experiments were performed to test the pneumatic balloon arrays to determine the potential of providing binary haptic feedback. The results showed differences in sensitivity due to the location where the balloon array is placed as well as the size of the device. In addition, it appears that the use of multiple balloon arrays placed in different parts of a human hand can improve the overall effectiveness of the feedback, even if they are not placed on the most sensitive areas. Lastly, the experiments demonstrated the potential of using multiple pneumatic balloon arrays to produce identifiable binary patterns."--Abstract.
Book Synopsis Handbook of Robotic and Image-Guided Surgery by : Mohammad Abedin-Nasab
Download or read book Handbook of Robotic and Image-Guided Surgery written by Mohammad Abedin-Nasab and published by Elsevier. This book was released on 2019-09-25 with total page 752 pages. Available in PDF, EPUB and Kindle. Book excerpt: Handbook of Robotic and Image-Guided Surgery provides state-of-the-art systems and methods for robotic and computer-assisted surgeries. In this masterpiece, contributions of 169 researchers from 19 countries have been gathered to provide 38 chapters. This handbook is 744 pages, includes 659 figures and 61 videos. It also provides basic medical knowledge for engineers and basic engineering principles for surgeons. A key strength of this text is the fusion of engineering, radiology, and surgical principles into one book. A thorough and in-depth handbook on surgical robotics and image-guided surgery which includes both fundamentals and advances in the field A comprehensive reference on robot-assisted laparoscopic, orthopedic, and head-and-neck surgeries Chapters are contributed by worldwide experts from both engineering and surgical backgrounds
Book Synopsis Workspace Scaling and Haptic Feedback for Industrial Telepresence and Teleaction Systems with Heavy-duty Teleoperators by : Marwan Radi
Download or read book Workspace Scaling and Haptic Feedback for Industrial Telepresence and Teleaction Systems with Heavy-duty Teleoperators written by Marwan Radi and published by Herbert Utz Verlag. This book was released on 2012 with total page 173 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Cutaneous Haptic Feedback in Robotic Teleoperation by : Claudio Pacchierotti
Download or read book Cutaneous Haptic Feedback in Robotic Teleoperation written by Claudio Pacchierotti and published by Springer. This book was released on 2015-11-06 with total page 157 pages. Available in PDF, EPUB and Kindle. Book excerpt: This work addresses the challenge of providing effective cutaneous haptic feedback in robotic teleoperation, with the objective of achieving the highest degree of transparency whilst guaranteeing the stability of the considered systems. On the one hand, it evaluates teleoperation systems that provide only cutaneous cues to the operator, thus guaranteeing the highest degree of safety. This cutaneous-only approach shows intermediate performance between no force feedback and full haptic feedback provided by a grounded haptic interface, and it is best suitable for those scenarios where the safety of the system is paramount, e.g., robotic surgery. On the other hand, in order to achieve a higher level of performance, this work also investigates novel robotic teleoperation systems with force reflection able to provide mixed cutaneous and kinesthetic cues to the operator. Cutaneous cues can compensate for the temporary reduction of kinesthetic feedback necessary to satisfy certain stability conditions. This state-of-the-art volume is oriented toward researchers, educators, and students who are interested in force feedback techniques for robotic teleoperation, cutaneous device design, cutaneous rendering methods and perception studies, as well as readers from different disciplines who are interested in applying cutaneous haptic technologies and methods to their field of interest.
Book Synopsis Development of Piezoresistive Tactile Sensors and a Graphical Display System for Minimally Invasive Surgery and Robotics by : Masoud Kalantari
Download or read book Development of Piezoresistive Tactile Sensors and a Graphical Display System for Minimally Invasive Surgery and Robotics written by Masoud Kalantari and published by . This book was released on 2013 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis A New Approach to Establish Tactility in Minimally Invasive Robotic Surgery by : Bernhard Kübler
Download or read book A New Approach to Establish Tactility in Minimally Invasive Robotic Surgery written by Bernhard Kübler and published by . This book was released on 2010 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Development of Capacitive Tactile Sensors for Surgical Systems by : Yuan Dai
Download or read book Development of Capacitive Tactile Sensors for Surgical Systems written by Yuan Dai and published by . This book was released on 2015 with total page 85 pages. Available in PDF, EPUB and Kindle. Book excerpt: Minimally invasive surgery (MIS) has gained popularity over traditional open surgery due to its advantages of decreased incision size and pain to the patient, lower risk of infection, and shorter recovery time. Recent developments in robotic surgical systems have shown promise to further advance MIS by offering the surgeons with increased manipulability and dexterity along with 3D vision. However, one major disadvantage associated with robotic surgery is the absence of tactile feedback, which is critical in tool-tissue interaction. This paper provides an overview and information useful for approaching a novel tactile feedback sensor system. We aim to construct highly sensitive micro-scale tri-axial capacitive-based differential force sensors that will be integrated at the tips of surgical tools used in robotic surgery. To date, three capacitive sensor models have been proposed. Comb drive model, joystick model and single-sided capacitive sensor model. The first two models were initially created by COMSOL, with optimized geometry parameters. We demonstrate that all three models can satisfy the sensitivity and resolution requirement after being connected with a readout circuit. The fabrication process is proposed and short-loop experiments have been conducted. The integration of read-out circuits with the capacitive sensor is designed on a flexible printed circuit board, which will be first connected to the computer with LabVIEW based controller to convert the analog signal to digital capacitor signal, and the force information as well as the real-time sensitivity, resolution values can be obtained. After the functionality of the sensor is proven to be valid, the proposed tactile sensor system needs to integrate into current Haptic Feedback System. Both the microcontroller and the software need to be modified to function with the proposed sensor and the actuators.
Book Synopsis Advanced Techniques in Minimally Invasive and Robotic Colorectal Surgery by : Ovunc Bardakcioglu
Download or read book Advanced Techniques in Minimally Invasive and Robotic Colorectal Surgery written by Ovunc Bardakcioglu and published by Springer. This book was released on 2019-07-29 with total page 162 pages. Available in PDF, EPUB and Kindle. Book excerpt: The first edition laid out the foundation with laparoscopic and robotic surgery utilizing the Da Vinci SI platform. Since then, many new advances in equipment and surgical techniques are becoming more popular. This second edition expands upon laparoscopic and endoscopic techniques and robotic surgery with the use of the new Da Vinci XI platform. This book bridges the gap between the practicing community of surgeons and the surgical innovators and provides a foundation for all classic and new techniques in minimally invasive colorectal surgery. By enhancing the surgical toolbox, the surgeon is able to progress from the novice to the master. Rather than describing the entire operative procedure by an individual author, this book compares operative steps of various technical difficulties throughout different chapters, thereby allowing the surgeon to tailor surgery to patient and surgeon`s own comfort level and experience. Chapters are written by a myriad of renowned experts in the field and discuss the major advances in advanced laparoscopic and endoscopic, robotic, and transanal minimally invasive surgical techniques. Great emphasis is placed on transanal total mesorectal excision (TaTME), which is dramatically changing the surgical approach to rectal resections. The second edition of Advanced Techniques in Minimally Invasive and Robotic Colorectal Surgery serves as a valuable resource to general surgeons, colon and rectal surgeons, minimally invasive surgeons, as well as residents and fellows.
Book Synopsis Ueber einen Fall von Meningitis, verursacht durch Bacterium lactis aërogenes by : H. Beitzke
Download or read book Ueber einen Fall von Meningitis, verursacht durch Bacterium lactis aërogenes written by H. Beitzke and published by . This book was released on 1904 with total page 3 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis A Teleoperative Haptic Feedback Framework for Computer-aided Minimally Invasive Surgery by : Gregory Tholey
Download or read book A Teleoperative Haptic Feedback Framework for Computer-aided Minimally Invasive Surgery written by Gregory Tholey and published by . This book was released on 2007 with total page 151 pages. Available in PDF, EPUB and Kindle. Book excerpt: The introduction of robot-assisted surgery into the operating room has revolutionized the medical field. These systems not only have the advantages of traditional minimally invasive surgery (MIS), such as reduced patient trauma and recovery time, lower morbidity, and lower health care costs, but they also eliminate surgeon tremor, reduce the effects of surgeon fatigue, and incorporate the ability to perform remote surgical procedures. However, current robotic surgical systems, such as the Da Vinci(TM) Surgical System, lack the capability of providing force feedback to the surgeon that is present in conventional surgery. Therefore, this lack of force feedback presents excellent developmental opportunities for surgeons and engineers to create novel surgical tools and methods to incorporate force feedback capabilities into these robotic surgical systems. The goal of this research is to restore force feedback capability to the surgeon in robot-assisted surgery through a haptic interaction experience involving force feedback from the surgical site using our novel teleoperation platform. This dissertation will summarize our research including: (1) the development of an automated laparoscopic grasper with force sensing capabilities, (2) a novel seven degree-of-freedom (DOF) haptic device with 4 degrees of force feedback with direct applications to robot-assisted surgery, (3) human subject studies to evaluate the addition of force feedback to robotic soft tissue characterization, (4) integration of the Mitsubishi PA-10 robot arm and laparoscopic grasper with a seven degree-of-freedom haptic device as a teleoperation platform, and (5) preliminary teleoperation experiments to evaluate the force feedback capabilities of the platform. Our results show the addition of force feedback to robot-assisted surgery leads to better tissue characterization than using only vision feedback. In addition, providing force feedback in our teleoperation platform lowers the peak forces in surgical knot tying tasks.
Book Synopsis An Investigation Into the Benefits of Tactile Feedback for Laparoscopic, Robotic, and Remote Surgery by : Christopher Robert Wottawa
Download or read book An Investigation Into the Benefits of Tactile Feedback for Laparoscopic, Robotic, and Remote Surgery written by Christopher Robert Wottawa and published by . This book was released on 2013 with total page 147 pages. Available in PDF, EPUB and Kindle. Book excerpt: Minimally invasive surgery (MIS) provides profound and well-known benefits to patients at the cost of increased technical difficulty for surgeons. In all types of minimally invasive surgery, including robotic, laparoscopic, and remote surgery, tactile information is altered, or in the case of robotic procedures, completely absent. The first version of a tactile feedback system for robotic surgery was completed in 2008. During the course of this research, the feedback system was iteratively redesigned in order to address some of its shortcomings, improve its performance, and to allow the necessary expansion to other applications and in-vivo use. When the improved tactile feedback system was integrated with a non-robotic laparoscopic grasper, it was found that tactile feedback significantly decreased the grip force of novice subjects during laparoscopic training, but had little impact on experts. After designing a new water insulation methodology, the system was integrated with the da Vinci surgical robot and used for the first time in a live tissue experiment. This experiment showed that there was a high variability between subjects, and that there was a correlation between the amount of force used and amount of damage observed. Most expert and novice subjects used significantly decreased grasping forces, and had significantly fewer sites of damage when evaluated by a blinded pathologist, but some of this may have been caused by familiarization with the task. The first prototype remote surgery system with tactile feedback was developed by combining three existing systems: The University of Washington RAVEN-II, the UCLA LapaRobot, and the improved tactile feedback system. In a preliminary investigation of remote surgery over a simulated network with delays of 100 ms and then 1 ms, there were decreases in grasping force for most subjects, and more significant retention when the time delay was minimized. Together these findings suggest that tactile may be a beneficial addition to minimally invasive surgical systems - especially for cases with heavy cognitive demand, such as training of novice users, challenging control schemes, and when handling delicate tissue - and that efforts should continue to advance the feedback system towards clinical viability.
Book Synopsis Computer-integrated Surgery by : Russell H. Taylor
Download or read book Computer-integrated Surgery written by Russell H. Taylor and published by MIT Press. This book was released on 1996 with total page 790 pages. Available in PDF, EPUB and Kindle. Book excerpt: In Computer-Integrated Surgery leading researchers and clinical practitioners describe the exciting new partnership that is being forged between surgeons and machines such as computers and robots, enabling them to perform certain skilled tasks better than either can do alone.The 19 chapters in part I, Technology, explore the components -- registration, basic tools for surgical planning, human-machine interfaces, robotic manipulators, safety -- that are the basis of computer-integrated surgery. These chapters provide essential background material needed to get up to speed on current work as well as a ready reference for those who are already active in the field.The 39 chapters in part II, Applications, cover eight clinical areas -- neurosurgery, orthopedics, eye surgery, dentistry, minimal access surgery, ENT surgery, craniofacial surgery, and radiotherapy -- with a concluding chapter on the high-tech operating room. Each section contains a brief introduction as well as at least one "requirements and opportunities" chapter written by a leading clinician in the area under discussion.
