Tactile Feedback for Artery Detection in Minimally Invasive Robotic Surgery – Preliminary Results of a New Approach

Minimally invasive robotic surgery (MIRS) entails total absence of haptic feedback due to the spatial separation of patient and surgeon. In conventional surgery, however, palpation to detect superficial arteries by a slight pulsation is an important, commonly applied, and security-relevant procedure. Therefore, an ultrasound based unidirectional sensor for MIRS was developed feeding back kinesthetic impulses to the surgeon-sided haptic input device.

[1]  D. Yuh,et al.  Effect of sensory substitution on suture-manipulation forces for robotic surgical systems. , 2005, The Journal of thoracic and cardiovascular surgery.

[2]  Christopher R. Wagner,et al.  Mechanisms of performance enhancement with force feedback , 2005, First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics Conference.

[3]  A. Castellanos,et al.  Force Feedback Plays a Significant Role in Minimally Invasive Surgery: Results and Analysis , 2005, Annals of surgery.

[4]  Christopher R. Wagner,et al.  A compliant tactile display for teletaction , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[5]  Gerd Hirzinger,et al.  Prototypic Force Feedback Instrument for Minimally Invasive Robotic Surgery , 2008 .

[6]  B. Hoffmann,et al.  Actuator Array for Use in Minimally Invasive Surgery , 1997 .

[7]  Rajnikant V. Patel,et al.  Tool/tissue interaction feedback modalities in robot-assisted lump localization , 2006, 2006 International Conference of the IEEE Engineering in Medicine and Biology Society.

[8]  Bernhard Kübler,et al.  Development of actuated and sensor integrated forceps for minimally invasive robotic surgery , 2006 .

[9]  Tobias Ortmaier,et al.  Telemanipulator for remote minimally invasive surgery , 2008, IEEE Robotics & Automation Magazine.

[10]  G Hirzinger,et al.  Development of actuated and sensor integrated forceps for minimally invasive robotic surger , 2005, The international journal of medical robotics + computer assisted surgery : MRCAS.

[11]  C. R. Wagner,et al.  DESIGN AND PERFORMANCE OF A TACTILE SHAPE DISPLAY USING RC SERVOMOTORS , 2003 .

[12]  Alin Albu-Schäffer,et al.  The DLR MIRO: a versatile lightweight robot for surgical applications , 2008, Ind. Robot.

[13]  Alois Knoll,et al.  Haptic Feedback in a Telepresence System for Endoscopic Heart Surgery , 2007, PRESENCE: Teleoperators and Virtual Environments.

[14]  Gerd Hirzinger,et al.  DLR MiroSurge -- towards versatility in surgical robotics , 2008 .

[15]  Miguel L Franco,et al.  An integrated pneumatic tactile feedback actuator array for robotic surgery , 2009, The international journal of medical robotics + computer assisted surgery : MRCAS.