Reliable and Enhanced Stiffness Perception in Soft-tissue Telemanipulation
- 1 October 2005
- journal article
- other
- Published by SAGE Publications in The International Journal of Robotics Research
- Vol. 24 (10), 805-822
- https://doi.org/10.1177/0278364905057861
Abstract
Haptic feedback is one of the missing links in robotized minimally invasive telesurgery. The teleoperation controllers are optimized so as to offer the surgeon a reliable perception of the stiffness of soft tissue, rather than following the traditional approach where tracking and force reflection fidelity are considered. The experimental results show that optimization allows for better focus on the quality of the haptic information in the performance-stability trade-off. A force sensor to measure the interaction forces with the environment is found to be indispensable for high-quality touch feedback. Next to optimization for realistic feedback of the environment stiffness, in this paper we describe how to extend human perception beyond differential thresholds and thus enhance sensitivity. Experiments on a one-dimensional system demonstrate that the operator is able to discriminate tinier differences using a telemanipulation system with enhanced sensitivity than through direct manipulation.Keywords
This publication has 11 references indexed in Scilit:
- Passive bilateral feedforward control of linear dynamically similar teleoperated manipulatorsIEEE Transactions on Robotics and Automation, 2003
- Design of bilateral teleoperation controllers for haptic exploration and telemanipulation of soft environmentsIEEE Transactions on Robotics and Automation, 2002
- Transparency in time-delayed systems and the effect of local force feedback for transparent teleoperationIEEE Transactions on Robotics and Automation, 2002
- Human-machine cooperative telemanipulation with motion and force scaling using task-oriented virtual tool dynamicsIEEE Transactions on Robotics and Automation, 2000
- Laparoscopic colectomy for cancer: A favorable opinionAnnals of Surgical Oncology, 1995
- Digitally assisted laparoscopic surgeryBritish Journal of Surgery, 1994
- Accuracy of lung imaging in metastases with implications for the role of thoracoscopyThe Annals of Thoracic Surgery, 1993
- A controller design framework for telerobotic systemsIEEE Transactions on Control Systems Technology, 1993
- Localization and Surgical Treatment of Occult InsulinomasAnnals of Surgery, 1990
- A design framework for teleoperators with kinesthetic feedbackIEEE Transactions on Robotics and Automation, 1989