Abstract
Haptic force feedback in teleoperated robot-assisted minimally invasive surgery is difficult to implement with traditional force sensors at the tool tip. A novel approach to displaying forces to the user is explored using electric impedance spectroscopy with an electrode embedded needle. To give substance to the proposed method, user trials were conducted to compare the accuracy of inserting needles by hand and through electric impedance based haptic teleoperation. The results of the experiment suggest that, when compared to the control scenario, novice operators could accurately locate the phantom tumour with a high degree of accuracy and repeatability using force feedback derived from electric impedance spectroscopy.
We acknowledge the support of the Natural Sciences and Engineering Research Council of Canada (NSERC), the Canadian Institutes of Health Research (CIHR), and the Social Sciences and Humanities Research Council of Canada (SSHRC), [funding reference number NFRFE-2018-01986]. Cette recherche a été financée par le Conseil de recherches en sciences naturelles et en génie du Canada (CRSNG), par les Instituts de recherche en santé du Canada (IRSC), et par le Conseil de recherches en sciences humaines du Canada (CRSH), [numéro de référence NFRFE-2018-01986].
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Kent, B., Cusipag, A., Rossa, C. (2020). Tissue Discrimination Through Force-Feedback from Impedance Spectroscopy in Robot-Assisted Surgery. In: McDaniel, T., Berretti, S., Curcio, I., Basu, A. (eds) Smart Multimedia. ICSM 2019. Lecture Notes in Computer Science(), vol 12015. Springer, Cham. https://doi.org/10.1007/978-3-030-54407-2_23
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