A desktop haptic device is used to teleoperate an industrial redundant and compliant robotic arm with a surgical instrument mounted on its end-effector. The master and slave devices are coupled in a bilateral position-position architecture. Force feedback is provided by the master haptic device to the user, from the position of the slave’s wrist. A surgical task (palpation) that involves force feedback is presented and tested in a user study with surgeons and non-medical participants. Results show that users easily discern between three different materials during palpation given minimal familiarisation time. Active constraint enforcement is also integrated with the system as a sensitive area around the palpation samples which the slave instrument is prohibited to enter.
|Title of host publication||15th Mediterranean Conference on Medical and Biological Engineering and Computing – MEDICON 2019 - Proceedings of MEDICON 2019|
|Editors||Jorge Henriques, Paulo de Carvalho, Nuno Neves|
|Number of pages||10|
|Publication status||Published - 2020|
|Event||15th Mediterranean Conference on Medical and Biological Engineering and Computing, MEDICON 2019 - Coimbra, Portugal|
Duration: 26 Sep 2019 → 28 Sep 2019
|Conference||15th Mediterranean Conference on Medical and Biological Engineering and Computing, MEDICON 2019|
|Period||26/09/19 → 28/09/19|
Bibliographical noteFunding Information:
Acknowledgements. This work was supported by the European Union’s Horizon 2020 research and innovation programme under grant agreement No. 732515.
© 2020, Springer Nature Switzerland AG.
- Active constraints
- Force feedback
- Medical robotics