Force-feedback surgical teleoperator: Controller design and palpation experiments

Mohsen Mahvash, Jim Gwilliam, Rahul Agarwal, Balazs Vagvolgyi, Li Ming Su, David D. Yuh, Allison M. Okamura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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.

Original languageEnglish (US)
Title of host publicationSymposium on Haptics Interfaces for Virtual Environment and Teleoperator Systems 2008 - Proceedings, Haptics
Pages465-471
Number of pages7
DOIs
StatePublished - Aug 25 2008
EventSymposium on Haptics Interfaces for Virtual Environment and Teleoperator Systems 2008 - Haptics - Reno, NV, United States
Duration: Mar 13 2008Mar 14 2008

Publication series

NameSymposium on Haptics Interfaces for Virtual Environment and Teleoperator Systems 2008 - Proceedings, Haptics

Other

OtherSymposium on Haptics Interfaces for Virtual Environment and Teleoperator Systems 2008 - Haptics
Country/TerritoryUnited States
CityReno, NV
Period3/13/083/14/08

Keywords

  • Augmented reality
  • Force feedback
  • Friction compensation
  • Haptics
  • Observer
  • Stability
  • Transparency

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Control and Systems Engineering

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