Bilateral control of a teleoperator for soft tissue palpation: design and experiments

In robot-assisted interventions, providing a surgeon with haptic information regarding contacts made between surgical instruments and tissue can improve task performance and reliability. In this paper, a force-reflective user interface is used with a sensorized surgical instrument to form a master-slave test-bed for studying haptic interaction in a soft-tissue endoscopic surgery environment. After modeling and parametric identification of the master and the slave, bilateral controllers are designed and teleoperation experiments involving a single degree of freedom surgical task on soft tissue (palpation) are conducted. The transparency of the teleoperator in terms of transmitting the critical task-related information to the user in the context of soft-tissue surgical applications is investigated

[1]  Christopher R. Wagner,et al.  The role of force feedback in surgery: analysis of blunt dissection , 2002, Proceedings 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. HAPTICS 2002.

[2]  Allison M. Okamura,et al.  The Effect of Visual and Haptic Feedback on Manual and Teleoperated Needle Insertion , 2002, MICCAI.

[3]  Tsuneo Yoshikawa,et al.  Bilateral control of master-slave manipulators for ideal kinesthetic coupling-formulation and experiment , 1994, IEEE Trans. Robotics Autom..

[4]  Dale A. Lawrence.  Stability and transparency in bilateral teleoperation , 1993, IEEE Trans. Robotics Autom..

[5]  M. Hashizume,et al.  Early experiences of endoscopic procedures in general surgery assisted by a computer-enhanced surgical system , 2002, Surgical Endoscopy And Other Interventional Techniques.

[6]  Blake Hannaford,et al.  A design framework for teleoperators with kinesthetic feedback , 1989, IEEE Trans. Robotics Autom..

[7]  Blake Hannaford,et al.  Performance evaluation of a 6 axis high fidelity generalized force reflecting teleoperator , 1989 .

[8]  Mahdi Tavakoli,et al.  Design issues in a haptics-based master-slave system for minimally invasive surgery , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[9]  Septimiu E. Salcudean,et al.  Transparency in time-delayed systems and the effect of local force feedback for transparent teleoperation , 2002, IEEE Trans. Robotics Autom..

[10]  G. Sung,et al.  Robotic laparoscopic surgery: a comparison of the DA Vinci and Zeus systems. , 2001, Urology.

[11]  S. Nicosia,et al.  Robot control by using only joint position measurements , 1990 .

[12]  Tsuneo Yoshikawa,et al.  Bilateral control of master-slave manipulators for ideal kinesthetic coupling , 1990, EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications.

[13]  Grigore C. Burdea,et al.  Force and Touch Feedback for Virtual Reality , 1996 .

[14]  Septimiu E. Salcudean,et al.  Estimation of environment forces and rigid-body velocities using observers , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[15]  Karun B. Shimoga,et al.  A survey of perceptual feedback issues in dexterous telemanipulation. I. Finger force feedback , 1993, Proceedings of IEEE Virtual Reality Annual International Symposium.

[16]  Carlos Canudas de Wit,et al.  A new model for control of systems with friction , 1995, IEEE Trans. Autom. Control..

[17]  Arif Kazi,et al.  Operator Performance in Surgical Telemanipulation , 2001, Presence: Teleoperators & Virtual Environments.

[18]  Alana Sherman,et al.  Design of bilateral teleoperation controllers for haptic exploration and telemanipulation of soft environments , 2002, IEEE Trans. Robotics Autom..

[19]  Karun B. Shimoga,et al.  A survey of perceptual feedback issues in dexterous telemanipulation. II. Finger touch feedback , 1993, Proceedings of IEEE Virtual Reality Annual International Symposium.