Bio-Inspired Haptic Feedback for Artificial Palpation in Robotic Surgery.
Bio-Inspired Haptic Feedback for Artificial Palpation in Robotic Surgery.
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DOI：
10.1109/tbme.2021.3076094
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发表时间：
2021-10
期刊：
影响因子：
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通讯作者：
Bisley J
中科院分区：
文献类型：
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作者：
Ouyang Q;Wu J;Sun S;Pensa J;Abiri A;Dutson E;Bisley J
据报道，添加触觉反馈可以改善微创机器人手术的结果。在本研究中，我们试图确定是否可以实施基于模拟皮肤传入群体反应的算法来提高机器人辅助手术呈现触觉反馈的性能。我们提出了一种仿生控制模型来呈现振动和力反馈，以帮助外科医生定位模型组织中的底层结构。一对执行器由一组皮肤传入模型的输出控制，该模型基于嵌入手术钳中的单个传感器的压力信号。我们招募了 25 名受试者（包括 10 名专家外科医生）来评估仿生控制模型在使用达芬奇手术机器人进行的人工触诊任务中的性能。在测试的控制方法中，仿生系统的独特之处在于，新手和专家都可以轻松识别所有类别肿瘤的位置，并且可以减少接触力和肿瘤接触时间。这项工作展示了我们的仿生多模态反馈系统的实用性，与传统的线性和现有的分段离散触觉反馈算法相比，该系统为新手和专业用户带来了卓越的性能。
Adding haptic feedback has been reported to improve the outcome of minimally invasive robotic surgery. In this study, we seek to determine whether an algorithm based on simulating responses of a cutaneous afferent population can be implemented to improve the performance of presenting haptic feedback for robot-assisted surgery. We propose a bio-inspired controlling model to present vibration and force feedback to help surgeons localize underlying structures in phantom tissue. A single pair of actuators was controlled by outputs of a model of a population of cutaneous afferents based on the pressure signal from a single sensor embedded in surgical forceps. We recruited 25 subjects including 10 expert surgeons to evaluate the performance of the bio-inspired controlling model in an artificial palpation task using the da Vinci surgical robot. Among the control methods tested, the bio-inspired system was unique in allowing both novices and experts to easily identify the locations of all classes of tumors and did so with reduced contact force and tumor contact time. This work demonstrates the utility of our bio-inspired multi-modal feedback system, which resulted in superior performance for both novice and professional users, in comparison to a traditional linear and the existing piecewise discrete algorithms of haptic feedback.