Cutaneous Feedback of Fingertip Deformation and Vibration for Palpation in Robotic Surgery
Cutaneous Feedback of Fingertip Deformation and Vibration for Palpation in Robotic Surgery
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DOI：
10.1109/tbme.2015.2455932
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发表时间：
2016-02-01
影响因子：
4.6
通讯作者：
Kuchenbecker, Katherine J.
中科院分区：
文献类型：
--
作者：
Pacchierotti, Claudio;Prattichizzo, Domenico;Kuchenbecker, Katherine J.
尽管其预期的临床效益，目前的遥控手术机器人不提供外科医生的触觉反馈，很大程度上是因为接地力可以不稳定的系统的闭环控制器。本文提出了一种替代方法，使外科医生感觉到指尖接触变形和振动，同时保证遥操作的稳定性。我们在Intuitive Surgical da芬奇Standard机器人上实施了我们的皮肤反馈解决方案，将SynTouch BioTac触觉传感器安装到手术器械的远端，并将自定义皮肤显示器安装到相应的主控制器。当用户探测远程环境时，BioTac感应到的接触变形、直流压力和交流压力（振动）使用基于查找表的无模型算法直接映射到皮肤设备电机的输入命令。皮肤显示器持续移动、倾斜和振动操作者指尖处的平板，以最佳方式再现BioTac所体验的触觉。我们测试了所提出的方法，有18个科目使用增强芬奇机器人触诊心脏模型没有触觉反馈，只有变形反馈，变形加振动反馈。指尖变形反馈通过减少任务完成时间、施加在心脏模型上的压力以及受试者在检测嵌入式塑料棒的方向时的绝对误差来显着改善触诊性能。振动反馈显著改善了触诊性能，只有七名受试者拖着BioTac穿过模型，而不是直接按进去。
Despite its expected clinical benefits, current teleoperated surgical robots do not provide the surgeon with haptic feedback largely because grounded forces can destabilize the system's closed-loop controller. This paper presents an alternative approach that enables the surgeon to feel fingertip contact deformations and vibrations while guaranteeing the teleoperator's stability. We implemented our cutaneous feedback solution on an Intuitive Surgical da Vinci Standard robot by mounting a SynTouch BioTac tactile sensor to the distal end of a surgical instrument and a custom cutaneous display to the corresponding master controller. As the user probes the remote environment, the contact deformations, dc pressure, and ac pressure (vibrations) sensed by the BioTac are directly mapped to input commands for the cutaneous device's motors using a model-free algorithm based on look-up tables. The cutaneous display continually moves, tilts, and vibrates a flat plate at the operator's fingertip to optimally reproduce the tactile sensations experienced by the BioTac. We tested the proposed approach by having eighteen subjects use the augmented da Vinci robot to palpate a heart model with no haptic feedback, only deformation feedback, and deformation plus vibration feedback. Fingertip deformation feedback significantly improved palpation performance by reducing the task completion time, the pressure exerted on the heart model, and the subject's absolute error in detecting the orientation of the embedded plastic stick. Vibration feedback significantly improved palpation performance only for the seven subjects who dragged the BioTac across the model, rather than pressing straight into it.