Abstract:
Implementation of haptic feedback in minimally invasive surgical teleoperator systems may lead to improved performance in many common surgical procedures; however, most o...Show MoreMetadata
Abstract:
Implementation of haptic feedback in minimally invasive surgical teleoperator systems may lead to improved performance in many common surgical procedures; however, most of the currently available surgical teleoperators do not provide force feedback, mainly because of the associated stability issues. In this paper, we study the effect of a special type of force reflection algorithms, called projection-based force reflection (PBFR) algorithms, on the stability and performance of a dual-arm haptics-enabled teleoperator system for minimally-invasive surgical applications. In particular, the teleoperator system's performance is experimentally evaluated in three common tasks, which are knot tightening, pegboard transfer, and object manipulation, in the presence of negligible as well as non-negligible communication delays. The results obtained indicate that, in almost all cases, the PBFR algorithms demonstrate statistically significant improvement of performance in comparison with conventional direct force feedback.
Date of Conference: 14-18 September 2014
Date Added to IEEE Xplore: 06 November 2014
ISBN Information: