TY - GEN
T1 - Effect of sensory substitution on suture manipulation forces for surgical teleoperation
AU - Kitagawa, Masaya
AU - Dokko, Daniell
AU - Okamura, Allison M.
AU - Bethea, Brian T.
AU - Yuh, David D.
PY - 2004
Y1 - 2004
N2 - Bilateral telemanipulation, which applies haptic feedback to the operator, is not yet available in most commercial robot-assisted surgical systems. We have shown in previous work that the lack of haptic (force or tactile) feedback is detrimental in applications requiring fine suture manipulation. In this paper, we study the effect of substituting direct haptic feedback with visual and auditory cues. Using the da Vinci robot from Intuitive Surgical, we observed the difference between applied forces during a knot tying procedure for four different sensory feedback substitution scenarios: no feedback, auditory feedback, visual feedback, and a combination of auditory and visual feedback. Our results indicate that visual feedback, which provides continuous force information, would improve robotassisted performance during complex surgical tasks such as knot tying with fine sutures. Discrete auditory feedback gives additional useful support to the surgeon.
AB - Bilateral telemanipulation, which applies haptic feedback to the operator, is not yet available in most commercial robot-assisted surgical systems. We have shown in previous work that the lack of haptic (force or tactile) feedback is detrimental in applications requiring fine suture manipulation. In this paper, we study the effect of substituting direct haptic feedback with visual and auditory cues. Using the da Vinci robot from Intuitive Surgical, we observed the difference between applied forces during a knot tying procedure for four different sensory feedback substitution scenarios: no feedback, auditory feedback, visual feedback, and a combination of auditory and visual feedback. Our results indicate that visual feedback, which provides continuous force information, would improve robotassisted performance during complex surgical tasks such as knot tying with fine sutures. Discrete auditory feedback gives additional useful support to the surgeon.
UR - http://www.scopus.com/inward/record.url?scp=13844254674&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=13844254674&partnerID=8YFLogxK
U2 - 10.3233/978-1-60750-942-4-157
DO - 10.3233/978-1-60750-942-4-157
M3 - Conference contribution
C2 - 2004199957
AN - SCOPUS:13844254674
SN - 1586034049
SN - 9781586034047
T3 - Studies in Health Technology and Informatics
SP - 157
EP - 163
BT - Medicine Meets Virtual Reality 12 - Building a Better You
PB - IOS Press
T2 - 4th Medicine Meets Virtual Reality Proceedings 1996, MMVR 1996
Y2 - 15 January 2004 through 16 January 2004
ER -