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

被引：58
作者：
Meli, Leonardo [1 ,2 ]
Pacchierotti, Claudio [3 ,4 ]
Prattichizzo, Domenico [1 ,2 ]
机构：
[1] Ist Italiano Tecnol, Dept Adv Robot, Genoa, Italy
[2] Univ Siena, Dept Informat Engn & Math, Siena, Italy
[3] Irisa, CNRS, Rennes, France
[4] Inria Rennes, Rennes, France
来源：
INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY | 2017年 / 13卷 / 04期
关键词：
haptics; minimally-invasive surgery; navigation; needle insertion; safety; telesurgery; FORCE FEEDBACK; SENSORY SUBSTITUTION; SURGERY; TELEOPERATION; PERFORMANCE; TRANSPARENCY; DEFORMATION; SUBTRACTION; STABILITY; DISPLAYS;
D O I：
10.1002/rcs.1809
中图分类号：
R61 [外科手术学];
学科分类号：
摘要：
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.
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页数：14
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