Optimization of a Pneumatic Balloon Tactile Display for Robot-Assisted Surgery Based on Human Perception
Optimization of a Pneumatic Balloon Tactile Display for Robot-Assisted Surgery Based on Human Perception
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DOI：
10.1109/tbme.2008.2001137
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发表时间：
2008-11-01
影响因子：
4.6
通讯作者：
Grundfest, Warren S.
中科院分区：
文献类型：
--
作者：
King, Chih-Hung;Culjat, Martin O.;Grundfest, Warren S.
机器人辅助手术的特点是完全丧失触觉反馈，这要求外科医生仅仅依靠视觉线索。一种紧凑、灵活且轻巧的气动气球式触觉显示器已被开发出来，适用于安装在机器人手术主控制器上。该触觉显示器由带有圆柱形通道的模制聚二甲基硅氧烷基底和形成气球阵列的旋涂硅膜组成。进行了人类感知研究以确定气球驱动器设计的最佳直径、空间分辨率和时间分辨率。直径为3.0毫米的气球提供了最高的平均准确率（>95%），同时具有五个可检测的膨胀级别。在两个驱动器辨别任务中，当边缘到边缘间距为1.5毫米时，空间准确率达到100%，并且当时间间隔为100毫秒时，确定两个连续刺激顺序的准确率大于90%。基于本研究结果的设计优化使所述触觉显示器能够提供在机器人手术中原本无法获得的有效触觉反馈。
Robot-assisted surgery is characterized by a total loss of haptic feedback, requiring surgeons to rely solely on visual cues. A compact, flexible, and lightweight pneumatic balloon tactile display has been developed suitable for mounting on robotic surgical master controls. The tactile display consists of a molded polydimethylsiloxane substrate with cylindrical channels and a spin-coated silicone film that forms the array of balloons. Human perceptual studies were conducted to determine the optimal diameter, spatial resolution, and temporal resolution of the balloon actuator design. A balloon diameter of 3.0 mm provided the highest average accuracy (>95%) while offering five detectable inflation levels. Spatial accuracy in a two-actuator discrimination task reached 100% with 1.5 mm edge-to-edge spacing, and the accuracy of determining the order of two successive stimuli was greater than 90% when the time separation was 100 ms. Design optimization based on the results from this study enables the described tactile display to provide the effective tactile feedback that is otherwise unavailable during robotic surgery.