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

Leonardo Meli 1, 2 Claudio Pacchierotti 3 Domenico Prattichizzo 1, 2
3 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA_D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
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: We carried out two experiments 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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Article dans une revue
The International Journal of Medical Robotics and Computer Assisted Surgery, John Wiley & Sons, Inc., 2017, 13 (4), pp.1-14. 〈10.1002/rcs.1809〉
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Leonardo Meli, Claudio Pacchierotti, Domenico Prattichizzo. Experimental evaluation of magnified haptic feedback for robot-assisted needle insertion and palpation. The International Journal of Medical Robotics and Computer Assisted Surgery, John Wiley & Sons, Inc., 2017, 13 (4), pp.1-14. 〈10.1002/rcs.1809〉. 〈hal-01482249〉

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