Background Haptic feedback has been proven to play a key role in enhancing the performance of teleoperated medical procedures. However, due to safety issues, commercially-available medical robots do not currently provide the clinician with haptic feedback. Methods This work presents the experimental evaluation of a teleoperation system for robot-assisted medical procedures able to provide magnified haptic feedback to the clinician. Forces registered at the operating table are magnified and provided to the clinician through a 7-DoF haptic interface. The same interface is also used to control the motion of a 6-DoF slave robotic manipulator. The safety of the system is guaranteed by a time-domain passivity-based control algorithm. Results Two experiments were carried out on stiffness discrimination (during palpation and needle insertion) and one experiment on needle guidance. Conclusions Our haptic-enabled teleoperation system improved the performance with respect to direct hand interaction of 80%, 306%, and 27% in stiffness discrimination through palpation, stiffness discrimination during needle insertion, and guidance, respectively.

Meli, L., Pacchierotti, C., Prattichizzo, D. (2017). Experimental evaluation of magnified haptic feedback for robot-assisted needle insertion and palpation. THE INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY, 13(4) [10.1002/rcs.1809].

Experimental evaluation of magnified haptic feedback for robot-assisted needle insertion and palpation

L. MELI;C. PACCHIEROTTI;D. PRATTICHIZZO
2017-01-01

Abstract

Background Haptic feedback has been proven to play a key role in enhancing the performance of teleoperated medical procedures. However, due to safety issues, commercially-available medical robots do not currently provide the clinician with haptic feedback. Methods This work presents the experimental evaluation of a teleoperation system for robot-assisted medical procedures able to provide magnified haptic feedback to the clinician. Forces registered at the operating table are magnified and provided to the clinician through a 7-DoF haptic interface. The same interface is also used to control the motion of a 6-DoF slave robotic manipulator. The safety of the system is guaranteed by a time-domain passivity-based control algorithm. Results Two experiments were carried out on stiffness discrimination (during palpation and needle insertion) and one experiment on needle guidance. Conclusions Our haptic-enabled teleoperation system improved the performance with respect to direct hand interaction of 80%, 306%, and 27% in stiffness discrimination through palpation, stiffness discrimination during needle insertion, and guidance, respectively.
2017
Meli, L., Pacchierotti, C., Prattichizzo, D. (2017). Experimental evaluation of magnified haptic feedback for robot-assisted needle insertion and palpation. THE INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY, 13(4) [10.1002/rcs.1809].
File in questo prodotto:
Non ci sono file associati a questo prodotto.

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11365/1029409