@inproceedings{887936a9cea9400f9d0f141426263da7,
title = "Force-feedback surgical teleoperator: Controller design and palpation experiments",
abstract = "In this paper, we develop and test a 6-degree-of-freedom surgical teleoperator that has four possible modes of operation: (1) direct force feedback, (2) graphical force feedback, (3) direct and graphical force feedback together, and (4) no force feedback. In all cases, visual feedback of the environment is provided via a head-mounted display. A position-position controller with local dynamic compensators provides the direct force feedback. The graphical force feedback is overlaid on the environment image, and displays a bar whose height and color is related to the environment force estimated using the current applied to the actuators of the patient-side arm. We evaluate the performance of the teleoperator modes in assisting a user to find the location of stiff objects hidden inside a soft material, similar to a calcified artery hidden in. heart tissue and a tumor in the prostate. Seven people used the teleoperator to perform palpation in these materials. Results showed that direct force feedback mode minimizes palpation task error for the heart model.",
keywords = "Augmented reality, Force feedback, Friction compensation, Haptics, Observer, Stability, Transparency",
author = "Mohsen Mahvash and Jim Gwilliam and Rahul Agarwal and Balazs Vagvolgyi and Su, {Li Ming} and Yuh, {David D.} and Okamura, {Allison M.}",
year = "2008",
doi = "10.1109/HAPTICS.2008.4479994",
language = "English (US)",
isbn = "9781424420056",
series = "Symposium on Haptics Interfaces for Virtual Environment and Teleoperator Systems 2008 - Proceedings, Haptics",
pages = "465--471",
booktitle = "Symposium on Haptics Interfaces for Virtual Environment and Teleoperator Systems 2008 - Proceedings, Haptics",
note = "Symposium on Haptics Interfaces for Virtual Environment and Teleoperator Systems 2008 - Haptics ; Conference date: 13-03-2008 Through 14-03-2008",
}