Sensory Subtraction via Cutaneous Feedback in Robot-Assisted Surgery

  • Leonardo Meli
  • Claudio Pacchierotti
  • Domenico Prattichizzo
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 38)

Abstract

This paper presents a novel approach to force feedback in robot-assisted surgery. Haptic stimuli, consisting of kinesthetic and cutaneous components, are substituted with cutaneous feedback only. This new approach to sensory substitution is called sensory subtraction, as it subtracts the destabilizing kinesthetic part of the haptic interaction to leave only cutaneous cues. In order to evaluate the feasibility of the proposed technique, we carried out a bimanual teleoperation experiment, similar to the da Vinci Skills Simulator’s Pegboard task. We compared the performance of our sensory subtraction approach with that of (1) complete haptic feedback and (2) auditory feedback in substitution of force feedback. Results assessed the proposed method as a viable solution to substitute haptic feedback in complex teleoperation scenarios. Moreover, this approach, as any other sensory substitution technique, allows to overcome any stability issue affecting the haptic loop.

Keywords

Haptic interfaces Telemedicine Telerobotics Surgery Biomedical engineering Tactile feedback 

References

  1. 1.
    Ruurda JP, van Vroonhoven ThJMV, Broeders IAMJ (2002) Robot-assisted surgical systems: a new era in laparoscopic surgery. Ann R Coll Surg Engl 84(4):223CrossRefGoogle Scholar
  2. 2.
    Nisky I, Hsieh MH, Okamura AM (2013) A framework for analysis of surgeon arm posture variability in robot-assisted surgery. In: Proceedings of IEEE international conference on robotics and automation, pp 245–251Google Scholar
  3. 3.
    Selha S, Dupont P, Howe RD, Torchiana DF (2002) Dexterity optimization by port placement in robot-assisted minimally invasive surgery. In: Intelligent systems and advanced manufacturing, pp 97–104Google Scholar
  4. 4.
    Prattichizzo D, Pacchierotti C, Rosati G (2012) Cutaneous force feedback as a sensory subtraction technique in haptics. IEEE Trans Haptics 5(4):289–300CrossRefGoogle Scholar
  5. 5.
    Moody L, Baber C, Arvanitis TN, et al (2002) Objective surgical performance evaluation based on haptic feedback. In: Studies in health technology and informatics, pp 304–310Google Scholar
  6. 6.
    Pacchierotti C, Chinello F, Malvezzi M, Meli L, Prattichizzo D (2012) Two finger grasping simulation with cutaneous and kinesthetic force feedback. In: Haptics: perception, devices, mobility, and communication, pp 373–382Google Scholar
  7. 7.
    Pacchierotti C, Abayazid M, Misra S, Prattichizzo D (2014) Teleoperation of steerable flexible needles by combining kinesthetic and vibratory feedback. IEEE Trans Haptics 7(4):551–556CrossRefGoogle Scholar
  8. 8.
    Hannaford B (1987) Task-level testing of the JPL-OMV smart end effector. In Proceedings of the workshop on space telerobotics, vol 2Google Scholar
  9. 9.
    Wagner CR, Stylopoulos N, Howe RD (2002) The role of force feedback in surgery: analysis of blunt dissection. In: Proceedings 10th symposium of haptic interfaces for virtual environment and teleoperator systems, pp 68–74Google Scholar
  10. 10.
    Massimino MJ (1995) Improved force perception through sensory substitution. Control Eng Pract 3(2):215–222CrossRefGoogle Scholar
  11. 11.
    Okamura AM, Verner LN, Yamamoto T, Gwilliam JC, Griffiths PG (2011) Force feedback and sensory substitution for robot-assisted surgery. In Surgical, Robotics, pp 419–448Google Scholar
  12. 12.
    McMahan W, Gewirtz J, Standish D, Martin P, Kunkel JA, Lilavois M, Wedmid A, Lee DI, Kuchenbecker KJ (2011) Tool contact acceleration feedback for telerobotic surgery. IEEE Trans Haptics 4(3):210–220CrossRefGoogle Scholar
  13. 13.
    Pacchierotti C, Tirmizi A, Bianchini G, Prattichizzo D (2013) Improving transparency in passive teleoperation by combining cutaneous and kinesthetic force feedback. In: Proceedings of IEEE/RSJ international conference on intelligent robots and systems (IROS), pp 4958–4963Google Scholar
  14. 14.
    King C-H, Culjat MO, Franco ML, Lewis CE, Dutson EP, Grundfest WS, Bisley JW (2009) Tactile feedback induces reduced grasping force in robot-assisted surgery. IEEE Trans Haptics 2(2):103–110CrossRefGoogle Scholar
  15. 15.
    Koehn JK, Kuchenbecker, KJ Surgeons and non-surgeons prefer haptic feedback of instrument vibrations during robotic surgery. Accepted for publication in Surgical Endoscopy Google Scholar
  16. 16.
    Prattichizzo D, Chinello F, Pacchierotti C, Malvezzi M (2013) Towards wearability in fingertip haptics: a 3-dof wearable device for cutaneous force feedback. IEEE Trans Haptics 6(4):506–516CrossRefGoogle Scholar
  17. 17.
    Pacchierotti C, Tirmizi A, Prattichizzo D (2014) Improving transparency in teleoperation by means of cutaneous tactile force feedback. ACM Trans Appl Percept 11(1):4CrossRefGoogle Scholar
  18. 18.
    Zilles CB, Salisbury JK (1995) A constraint-based god-object method for haptic display. In Proceedings of IEEE/RSJ international conference on intelligent robots and systems, vol 3, pp 146–151Google Scholar
  19. 19.
    Prattichizzo D, Trinkle J (2008) Chapter 28 on grasping. In: Siciliano B, Kathib O (eds), Handbook on robotics. Springer, Berlin, pp 671–700Google Scholar
  20. 20.
    Wallenstein S, Zucker CL, Fleiss JL (1980) Some statistical methods useful in circulation research. Circ Res 47(1):1–9CrossRefGoogle Scholar
  21. 21.
    Hashtrudi-Zaad K, Salcudean SE (2002) Transparency in time-delayed systems and the effect of local force feedback for transparent teleoperation. IEEE Trans Robot Autom 18(1):108–114CrossRefGoogle Scholar

Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • Leonardo Meli
    • 1
    • 2
  • Claudio Pacchierotti
    • 2
  • Domenico Prattichizzo
    • 1
    • 2
  1. 1.Department of Information Engineering and MathematicsUniversity of SienaSienaItaly
  2. 2.Department of Advanced RoboticsIstituto Italiano Di TecnologiaGenoaItaly

Personalised recommendations