Using vibrations for haptic feedback discrimination in teleoperation

The European project ACTIVE aims at developing an integrated redundant robotic platform for neurosurgery. During tele-operation, the surgeon perceives on a haptic device the interaction of the tool with the brain tissue by means of a force/torque sensor mounted on the slave. Moreover, active constraints prevent damage to eloquent areas and assist the surgeon by constraining and directing his motions. Having two sources of haptic feedback, and only one haptic device through which it can be displayed makes it difficult to distinguish between the two sources. In this extended abstract, we formalize the problem and propose a solution based on vibratory feedback. The platform that we’ve set up in order to take our findings from virtual reality to teleoperation is described, as well as the current work we’re performing in order to cover not only forbidden region active constraints, but also guidance forces.