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

DOI Web Site Web Site 被引用文献1件

書誌事項

公開日
2017-02-20
権利情報
  • http://onlinelibrary.wiley.com/termsAndConditions#vor
DOI
  • 10.1002/rcs.1809
公開者
Wiley

この論文をさがす

説明

<jats:title>Abstract</jats:title><jats:sec><jats:title>Background</jats:title><jats:p>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.</jats:p></jats:sec><jats:sec><jats:title>Methods</jats:title><jats:p>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.</jats:p></jats:sec><jats:sec><jats:title>Results</jats:title><jats:p>Two experiments were carried out on stiffness discrimination (during palpation and needle insertion) and one experiment on needle guidance.</jats:p></jats:sec><jats:sec><jats:title>Conclusions</jats:title><jats:p>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.</jats:p></jats:sec>

収録刊行物

被引用文献 (1)*注記

もっと見る

詳細情報 詳細情報について

問題の指摘

ページトップへ