Analysis of suture manipulation forces for teleoperation with force feedback

Masaya Kitagawa; Allison M. Okamura; Brian T. Bethea; Vincent L. Gott; William A. Baumgartner

doi:10.1007/3-540-45786-0_20

Analysis of suture manipulation forces for teleoperation with force feedback

Masaya Kitagawa, Allison M. Okamura, Brian T. Bethea, Vincent L. Gott, William A. Baumgartner

School of Medicine

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

77 Scopus citations

Abstract

Despite many successes with teleoperated robotic surgical systems, some surgeons feel that the lack of haptic (force or tactile) feedback is detrimental in applications requiring fine suture manipulation. In this paper, we study the difference between applied suture forces in three knot tying exercises: hand ties, instrument ties (using needle drivers), and robot ties (using the da Vinci™ Surgical System from Intuitive Surgical, Inc.). Both instrument and robot-assisted ties differ from hand ties in accuracy of applied force. However, only the robot ties differ from hand ties in repeatability of applied force. Furthermore, comparison between attendings and residents revealed statistically significant differences in the forces used during hand ties, although attendings and residents perform similarly when comparing instrument and robot ties to hand ties. These results indicate that resolved force feedback would improve robot-assisted performance during complex surgical tasks such as knot tying with fine suture.

Original language	English (US)
Title of host publication	Medical Image Computing and Computer-Assisted Intervention - MICCAI 2002 - 5th International Conference, Proceedings
Editors	Takeyoshi Dohi, Ron Kikinis
Publisher	Springer Verlag
Pages	155-162
Number of pages	8
ISBN (Print)	9783540457862
DOIs	https://doi.org/10.1007/3-540-45786-0_20
State	Published - 2002
Event	5th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2002 - Tokyo, Japan Duration: Sep 25 2002 → Sep 28 2002

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	2488
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Other

Other	5th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2002
Country/Territory	Japan
City	Tokyo
Period	9/25/02 → 9/28/02

ASJC Scopus subject areas

Theoretical Computer Science
General Computer Science

Access to Document

10.1007/3-540-45786-0_20

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Kitagawa, M., Okamura, A. M., Bethea, B. T., Gott, V. L., & Baumgartner, W. A. (2002). Analysis of suture manipulation forces for teleoperation with force feedback. In T. Dohi, & R. Kikinis (Eds.), Medical Image Computing and Computer-Assisted Intervention - MICCAI 2002 - 5th International Conference, Proceedings (pp. 155-162). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 2488). Springer Verlag. https://doi.org/10.1007/3-540-45786-0_20

Analysis of suture manipulation forces for teleoperation with force feedback. / Kitagawa, Masaya; Okamura, Allison M.; Bethea, Brian T. et al.
Medical Image Computing and Computer-Assisted Intervention - MICCAI 2002 - 5th International Conference, Proceedings. ed. / Takeyoshi Dohi; Ron Kikinis. Springer Verlag, 2002. p. 155-162 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 2488).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kitagawa, M, Okamura, AM, Bethea, BT, Gott, VL & Baumgartner, WA 2002, Analysis of suture manipulation forces for teleoperation with force feedback. in T Dohi & R Kikinis (eds), Medical Image Computing and Computer-Assisted Intervention - MICCAI 2002 - 5th International Conference, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 2488, Springer Verlag, pp. 155-162, 5th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2002, Tokyo, Japan, 9/25/02. https://doi.org/10.1007/3-540-45786-0_20

Kitagawa M, Okamura AM, Bethea BT, Gott VL, Baumgartner WA. Analysis of suture manipulation forces for teleoperation with force feedback. In Dohi T, Kikinis R, editors, Medical Image Computing and Computer-Assisted Intervention - MICCAI 2002 - 5th International Conference, Proceedings. Springer Verlag. 2002. p. 155-162. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/3-540-45786-0_20

Kitagawa, Masaya ; Okamura, Allison M. ; Bethea, Brian T. et al. / Analysis of suture manipulation forces for teleoperation with force feedback. Medical Image Computing and Computer-Assisted Intervention - MICCAI 2002 - 5th International Conference, Proceedings. editor / Takeyoshi Dohi ; Ron Kikinis. Springer Verlag, 2002. pp. 155-162 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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Analysis of suture manipulation forces for teleoperation with force feedback

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