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Design Fabrication Optimization And Evaluation Of A Multinodal Tactile Feedback System For Teleoperated Robot Assisted Minimally Invasive Surgery
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Book Synopsis Design, Fabrication, Optimization and Evaluation of a Multinodal Tactile Feedback System for Teleoperated Robot-assisted Minimally Invasive Surgery by : Chih-Hung Aaron King
Download or read book Design, Fabrication, Optimization and Evaluation of a Multinodal Tactile Feedback System for Teleoperated Robot-assisted Minimally Invasive Surgery written by Chih-Hung Aaron King and published by . This book was released on 2008 with total page 500 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 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 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 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 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 Magnetorheological Materials and Their Applications by : Seung-Bok Choi
Download or read book Magnetorheological Materials and Their Applications written by Seung-Bok Choi and published by Materials, Circuits and Device. This book was released on 2019-07 with total page 443 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book introduces magnetorheological fluids and elastomers, and explores their material properties, related modelling techniques and applications in turn. The book offers insights into the relationships between the properties and characterisation of MR materials and their current and future applications.
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 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 Grasper Integrated Miniaturized Tri-Axial Force Sensor System for Robotic Minimally Invasive Surgery by : Yuan Dai
Download or read book Grasper Integrated Miniaturized Tri-Axial Force Sensor System for Robotic Minimally Invasive Surgery written by Yuan Dai and published by . This book was released on 2018 with total page 181 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, the lack of tactile feedback is the key feature that is needed for robotic surgery to reach its full potential. Recent research efforts have successfully integrated some degree of tactile feedback components onto surgical robotic instruments, and have shown significant improvement of the outcome of the surgical performance. The primary barrier to the adoption of tactile feedback in clinical use is the unavailability of suitable tri-axial force sensing technologies that can be integrated with the medical instruments. Besides well-understood normal force sensing, shear force sensing is also critical in clinical tasks, such as suturing, where shear sensing could prevent breakage of sutures due to excessive shear force. This paper describes the design, batch microfabrication, and characterization of a miniature force sensor for providing haptic feedback in robotic surgical systems. We demonstrate for the first time a microfabricated sensor that can provide triaxial sensing (normal, x-shear, y-shear) in a single sensor element that is integrated with commercial robotic surgical graspers. Features of this capacitive force sensor include differential sensing in the shear directions as well as a design where all electrical connections are on one side, leaving the backside pristine as the sensing face for surgical tasks. The sensor readout is performed by a custom-designed printed circuit board with 24-bit resolution. The integration of read-out circuits with the capacitive sensor is designed on two printed circuit boards that can be clipped together, providing the possibility for disposable sensors. The sensing system is first connected to the LabVIEW-based controller, to convert the analog capacitor signal to a digital signal representing force. After the functionality of the sensor is proven, the tactile sensor system is then integrated with our custom Visual Studio based feedback control system. Initial LabVIEW results validate the batch fabrication of the capacitive sensors and the design of the control circuit. The sensor is characterized using a sensing circuit with a 24-bit resolution at 11 Hz-109 Hz. With the LabVIEW program, the sensor and the readout circuitry contribute to a noise down to 0.8 fF to the normal z-direction, 0.2 fF to the shear x-direction, and 0.9 fF to the shear y-direction at 8 Hz bandwidth. The grasper integrated sensor system uses an Arduino based controller to multiplex between x, y, and z directions, providing 24 packets of tri-axial data per second to the Visual Studio-based computer application, with down to 0.094 fF capacitance noise to the normal z-direction, 0.078 fF to the shear x-direction, and 0.0825 fF to the shear y-direction at 87.2 Hz bandwidth. The sensitivity measured for the sensor is 14.58 fF/N for normal z direction, 0.83 fF/N for the shear x direction, and 0.62 fF/N for the shear y direction. We report a normal resolution of 6.45 mN, x-shear resolution of 94.7 mN, and y-shear resolution of 133 mN, all of which are more than sufficient for clinically relevant forces. A data latency of less than 42 ms is achieved to obtain a triaxial data package and transmit it to the computer through the WiFi network. A user study has been performed to tackle the suture breakage phenomenon that occurs during robotic surgery with the application of excessive forces due to lack of haptic feedback. The work aims to develop and validate a bi-axial shear feedback system that warns the operator to anticipated suture breakage. The benefits of a suture breakage warning system may be a reduced incidence of suture failure with otherwise equivalent knot quality during the tying procedure. Biaxial shear sensors were placed on the Cadiere grasper tips of a da Vinci robotic surgical system. 17 novice subjects were then instructed to tighten 10 knots made from Silk 3-0 sutures, five times with the Haptic Feedback System (HFS) enabled, and five times with the system disabled (i.e., without any feedback). During each trial, the number of suture breakages was recorded. After trial completion, knots were evaluated for tightness. This was accomplished by measuring the amount of knot slippage following knot tying. Additional metrics recorded were the time required for completing each trial and both the average force and peak force applied in each trial. Seven suture failures occurred in trials with HFS enabled while seventeen occurred in trials without feedback. The biaxial shear sensing system reduced the incidence of suture failure by 59% (). It also resulted in 25% lower average applied force in comparison to trials without feedback (), which is relevant because average force was observed to play a role in suture breakage (p=0.03925). Results of a 55% decrease in standard deviation of quality knots tied with HFS also indicate an improvement in consistency when using the feedback system. These results suggest this system may improve outcomes related to knot tying tasks in robotic surgery and reduce instances of suture failure while not degrading the quality of knots produced.
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.
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 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 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 Tactile Sensing, Skill Learning, and Robotic Dexterous Manipulation by : Qiang Li
Download or read book Tactile Sensing, Skill Learning, and Robotic Dexterous Manipulation written by Qiang Li and published by Academic Press. This book was released on 2022-04-02 with total page 374 pages. Available in PDF, EPUB and Kindle. Book excerpt: Tactile Sensing, Skill Learning and Robotic Dexterous Manipulation focuses on cross-disciplinary lines of research and groundbreaking research ideas in three research lines: tactile sensing, skill learning and dexterous control. The book introduces recent work about human dexterous skill representation and learning, along with discussions of tactile sensing and its applications on unknown objects’ property recognition and reconstruction. Sections also introduce the adaptive control schema and its learning by imitation and exploration. Other chapters describe the fundamental part of relevant research, paying attention to the connection among different fields and showing the state-of-the-art in related branches. The book summarizes the different approaches and discusses the pros and cons of each. Chapters not only describe the research but also include basic knowledge that can help readers understand the proposed work, making it an excellent resource for researchers and professionals who work in the robotics industry, haptics and in machine learning. Provides a review of tactile perception and the latest advances in the use of robotic dexterous manipulation Presents the most detailed work on synthesizing intelligent tactile perception, skill learning and adaptive control Introduces recent work on human’s dexterous skill representation and learning and the adaptive control schema and its learning by imitation and exploration Reveals and illustrates how robots can improve dexterity by modern tactile sensing, interactive perception, learning and adaptive control approaches
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 Design and Development of New Tactile Softness Displays for Minimally Invasive Surgery by : Mohammadreza Ramezanifard
Download or read book Design and Development of New Tactile Softness Displays for Minimally Invasive Surgery written by Mohammadreza Ramezanifard and published by . This book was released on 2008 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
