Chapter

Haptics: Generating and Perceiving Tangible Sensations

Volume 6191 of the series Lecture Notes in Computer Science pp 189-196

VerroTouch: High-Frequency Acceleration Feedback for Telerobotic Surgery

  • Katherine J. KuchenbeckerAffiliated withDepartment of Mechanical Engineering and Applied Mechanics, University of Pennsylvania
  • , Jamie GewirtzAffiliated withDepartment of Mechanical Engineering and Applied Mechanics, University of Pennsylvania
  • , William McMahanAffiliated withDepartment of Mechanical Engineering and Applied Mechanics, University of Pennsylvania
  • , Dorsey StandishAffiliated withDepartment of Mechanical Engineering and Applied Mechanics, University of Pennsylvania
  • , Paul MartinAffiliated withDepartment of Mechanical Engineering and Applied Mechanics, University of Pennsylvania
  • , Jonathan BohrenAffiliated withDepartment of Mechanical Engineering and Applied Mechanics, University of Pennsylvania
  • , Pierre J. MendozaAffiliated withDepartment of Surgery, Division of Urology, University of Pennsylvania
  • , David I. LeeAffiliated withDepartment of Surgery, Division of Urology, University of Pennsylvania

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Abstract

The Intuitive da Vinci system enables surgeons to see and manipulate structures deep within the body via tiny incisions. Though the robotic tools mimic one’s hand motions, surgeons cannot feel what the tools are touching, a striking contrast to non-robotic techniques. We have developed a new method for partially restoring this lost sense of touch. Our VerroTouch system measures the vibrations caused by tool contact and immediately recreates them on the master handles for the surgeon to feel. This augmentation enables the surgeon to feel the texture of rough surfaces, the start and end of contact with manipulated objects, and other important tactile events. While it does not provide low frequency forces, we believe vibrotactile feedback will be highly useful for surgical task execution, a hypothesis we we will test in future work.

Keywords

vibrotactile feedback robot-assisted surgery