Surgeons can benefit from the cooperation with a robotic assistant during the repetitive execution of precise targeting tasks on soft tissues, such as during brain cortex stimulation procedures in open-skull neurosurgery. Position-based force-to-motion control schemes may not be suitable solution to provide the manipulator with the high compliance desirable during guidance along wide trajectories. A new torque controller with non-linear force feedback (FFE) is presented to provide augmented haptic perception to the operator, during the instrument’s placement on the tissue. The FFE controller was experimentally validated with a pool of non-expert users using brain-mimicking gelatin phantoms (8%-16% concentration). Besides providing hand tremor rejection for a stable holding of the tool, the FFE controller was proved to allow for a safer tissue contact with respect to both robotic assistance without force feedback and freehand executions (50% and 75% reduction of the indentation depth, respectively). Future work will address the evaluation of the safety features of the FFE controller with expert surgeons on a realistic brain phantom, also accounting for unpredictable tissue motions as during seizures due to cortex stimulation.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Force Feedback Enhancement for Soft Tissue Interaction Tasks in Cooperative Robotic Surgery



    Erscheinungsdatum :

    01.01.2015



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    Non linear force feedback enhancement for cooperative robotic neurosurgery enforces virtual boundaries on cortex surface

    BERETTA, ELISA / FERRIGNO, GIANCARLO / DE MOMI, ELENA | BASE | 2016

    Freier Zugriff

    Robotic Normalizing Force Feedback

    van Duin, S. / Kihlman, H. / Society of Automotive Engineers | British Library Conference Proceedings | 2005


    Robotic Normalizing Force Feedback

    Kihlman, H. / van Duin, S. | SAE Technical Papers | 2005


    Force Feedback-based Robotic Catheter Training System for the Vascular Interventional Surgery

    Guo, Shuxiang / Yan, Lin / Guo, Jian | British Library Conference Proceedings | 2016


    Towards retrieving force feedback in robotic-assisted surgery: a supervised neuro-recurrent-vision approach

    Avilés Rivero, Angélica Ivone / Alsaleh, Samar M. / Hahn, James K. et al. | BASE | 2017

    Freier Zugriff