skip to main content
10.1145/1660877.1660904acmotherconferencesArticle/Chapter ViewAbstractPublication PagespermisConference Proceedingsconference-collections
research-article

Haptic feedback system for robot-assisted surgery

Published: 28 August 2007 Publication History

Abstract

Minimally invasive surgical procedures using long instruments have profoundly influenced modern surgery by decreasing invasiveness, therefore minimizing patient recovery time and cost. However, surgical procedures using long tools inserted through small ports on the body deprive surgeons of the sense of touch (haptics), depth perception, dexterity, and straightforward hand eye coordination that they are accustomed to in open procedures. While there have been significant advances in almost all of the above areas, haptic feedback systems for robot-assisted surgery are lacking in development. In this paper we present: 1) the development of accurate robot-arm dynamic model (using model-based control) with the goal of minimizing unwanted tool-tissue interaction forces in robot-assisted surgery, 2) the development of an ergonomic 7-DOF haptic feedback system, and 3) the recently developed laparoscopic grasper with force feedback capability attached to the end of the robot arm and controlled by the haptic device.

References

[1]
M. M. Olsen and H. G. Peterson, "A new method for estimating parameters of a dynamic robot model," IEEE Transactions on Robotics and Automation, vol. 17, pp. 95--100, 2001.
[2]
W. K. Yoon, Y. Tsumaki, and M. Uchiyama, "An experimental system for dual-arm robot teleoperation in space with concepts of virtual grip and ball," in Proceedings of International Conference on Advanced Robotics, 1999, pp. 225--230.
[3]
C. W. Kennedy and J. P. Desai, "Modeling and Control of the Mitsubishi PA-10 Robot Arm Harmonic Drive System," IEEE/ASME Transactions on Mechatronics, vol. 10, pp. 263--274, 2005.
[4]
T. H. Massie and K. J. Salisbury, "Force reflecting haptic interface," US: Massachusetts Institute of Technology, 1993.
[5]
E. L. Faulring, J. E. Colgate, and M. A. Peshkin, "A High Performance 6-DOF Haptic Cobot," in IEEE International Conference on Robotics and Automation, New Orleans, LA, 2004, pp. 1980--1985.
[6]
K. Kim, W. K. Chung, and Y. Yourn, "Design and Analysis of a New 7-DOF Parallel Type Haptic Device: PATHOS-II," in IEEE International Conference on Intelligent Robots and Systems, Las Vegas, NV, 2003, pp. 2241--2246.
[7]
L. Birglen, C. Gosselin, N. Pouliot, B. Monsarrat, and T. Laliberte, "SHaDe, A New 3-DOF Haptic Device," IEEE Transactions on Robotics and Automation, vol. 18, pp. 166--175, 2002.
[8]
J. H. Lee, K. S. Eom, B. J. Yi, and I. H. Suh, "Design of a New 6-DOF Parallel Haptic Device," in IEEE International Conference on Robotics and Automation, Seoul, Korea, 2001, pp. 886--891.
[9]
A. K. Morimoto, R. D. Foral, J. L. Kuhlman, K. A. Zucker, M. J. Curet, R. Bocklage, T. I. MacFarlane, and L. Kory, "Force Sensor for Laparoscopic Babcock," in Medicine Meets Virtual Reality, 1997, pp. 354--361.
[10]
A. Bicchi, G. Canepa, D. DeRossi, P. Iacconi, and E. Scilingo, "A sensor-based minimally invasive surgery tool for detecting tissue elastic properties," in IEEE International Conference on Robotics and Automation, 1996, pp. 884--888.
[11]
J. Dargahi, M. Parameswaran, and S. Payandeh, "A Micromachined Piezoelectric Tactile Sensor for an Endoscopic Grasper - Theory, Fabrication and Experiments," Journal of Microelectromechanical Systems, vol. 9, pp. 329--335, September 2000.
[12]
S. K. Prasad, M. Kitagawa, G. S. Fischer, J. Zand, M. A. Talamani, R. H. Taylor, and A. M. Okamura, "A modular 2-DOF force-sensing instrument for laparoscopic surgery," in International Conference on Medical Image Computing and Computer Assisted Intervention Montreal, Canada, 2003, pp. 279--286.
[13]
G. S. Fischer, T. Akinbiyi, S. Saha, J. Zand, M. Talamini, M. Marohn, and R. H. Taylor, "Ischemia and force sensing surgical instruments for augmenting available surgeon information," in IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics Pisa, Italy, 2006, pp. 1030--1035.
[14]
J. Rosen, J. D. Brown, L. Chang, M. Barreca, M. Sinanan, and B. Hannaford, "The BlueDRAGON - A System for Measuring the Kinematics and Dynamics of Minimally Invasive Surgical Tools In-Vivo," in IEEE International Conference on Robotics and Automation, Washington, D.C., 2002, pp. 1876--1881.
[15]
G. Tholey, A. Pillarisetti, and J. P. Desai, "On-Site Three Dimensional Force Sensing Capability in a Laparoscopic Grasper," Industrial Robot, vol. 31, pp. 509--518, 2004.
[16]
T. W. Nye and R. P. Kraml, "Harmonic drive gear error: characterization and compensation for precision pointing and tracking," in Proceedings of 25th Aerospace Mechanisms Symposium, 1991, pp. 237--252.
[17]
C. W. Kennedy and J. P. Desai, "Estimation and modeling of the harmonic drive transmission in the Mitsubishi PA-10 robot arm," in IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, 2003.
[18]
G. Tholey, J. P. Desai, and A. E. Castellanos, "Force Feedback plays a sgnificant role in Minimally Invasive Surgery - Results and Analysis," Annals of Surgery, vol. 241, p. 102, January 2005 2004.

Cited By

View all
  • (2021)STRIVE: String-Based Force Feedback for Automotive EngineeringThe 34th Annual ACM Symposium on User Interface Software and Technology10.1145/3472749.3474790(841-853)Online publication date: 10-Oct-2021
  • (2018)Modular Instrument for a Haptically-Enabled Robotic Surgical System (HeroSurg)IEEE Access10.1109/ACCESS.2018.28445636(31974-31982)Online publication date: 2018
  • (2017)A Study of Guidance Method for AR Laparoscopic Surgery Navigation SystemDesign, User Experience, and Usability: Designing Pleasurable Experiences10.1007/978-3-319-58637-3_43(556-564)Online publication date: 14-May-2017
  • Show More Cited By

Recommendations

Comments

Information & Contributors

Information

Published In

cover image ACM Other conferences
PerMIS '07: Proceedings of the 2007 Workshop on Performance Metrics for Intelligent Systems
August 2007
293 pages
ISBN:9781595938541
DOI:10.1145/1660877
Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

Sponsors

  • NIST: National Institute of Standards and Technology

In-Cooperation

Publisher

Association for Computing Machinery

New York, NY, United States

Publication History

Published: 28 August 2007

Permissions

Request permissions for this article.

Check for updates

Author Tags

  1. Mitsubishi PA-10
  2. haptic device
  3. laparoscopic grasper
  4. robot-assisted minimally invasive surgery

Qualifiers

  • Research-article

Funding Sources

Conference

PerMIS07
Sponsor:
  • NIST

Contributors

Other Metrics

Bibliometrics & Citations

Bibliometrics

Article Metrics

  • Downloads (Last 12 months)29
  • Downloads (Last 6 weeks)0
Reflects downloads up to 16 Feb 2025

Other Metrics

Citations

Cited By

View all
  • (2021)STRIVE: String-Based Force Feedback for Automotive EngineeringThe 34th Annual ACM Symposium on User Interface Software and Technology10.1145/3472749.3474790(841-853)Online publication date: 10-Oct-2021
  • (2018)Modular Instrument for a Haptically-Enabled Robotic Surgical System (HeroSurg)IEEE Access10.1109/ACCESS.2018.28445636(31974-31982)Online publication date: 2018
  • (2017)A Study of Guidance Method for AR Laparoscopic Surgery Navigation SystemDesign, User Experience, and Usability: Designing Pleasurable Experiences10.1007/978-3-319-58637-3_43(556-564)Online publication date: 14-May-2017
  • (2014)Tissue characterization in medical roboticsThe 23rd IEEE International Symposium on Robot and Human Interactive Communication10.1109/ROMAN.2014.6926276(341-346)Online publication date: Aug-2014
  • (2013)An actuated force feedback-enabled laparoscopic instrument for robotic-assisted surgeryThe International Journal of Medical Robotics and Computer Assisted Surgery10.1002/rcs.150310:1(11-21)Online publication date: 2-May-2013
  • (2009)Development of an integrated torque sensor-motor module for haptic feedback in teleoperated robot-assisted surgery2009 IEEE International Conference on Technologies for Practical Robot Applications10.1109/TEPRA.2009.5339650(10-15)Online publication date: Nov-2009

View Options

Login options

View options

PDF

View or Download as a PDF file.

PDF

eReader

View online with eReader.

eReader

Figures

Tables

Media

Share

Share

Share this Publication link

Share on social media