Evaluation of Force Feedback for Palpation and Application of Active Constraints on a Teleoperated System

Efi Psomopoulou*, Raj Persad, Anthony Koupparis, Sajeeva Abeywardena, Mohammad Fattahi Sani, Chris Melhuish, Sanja Dogramadzi

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference Contribution (Conference Proceeding)

Abstract

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.

Original languageEnglish
Title of host publication15th Mediterranean Conference on Medical and Biological Engineering and Computing – MEDICON 2019 - Proceedings of MEDICON 2019
EditorsJorge Henriques, Paulo de Carvalho, Nuno Neves
PublisherSpringer
Pages1571-1580
Number of pages10
ISBN (Print)9783030316341
DOIs
Publication statusPublished - 2020
Event15th Mediterranean Conference on Medical and Biological Engineering and Computing, MEDICON 2019 - Coimbra, Portugal
Duration: 26 Sept 201928 Sept 2019

Publication series

NameIFMBE Proceedings
Volume76
ISSN (Print)1680-0737
ISSN (Electronic)1433-9277

Conference

Conference15th Mediterranean Conference on Medical and Biological Engineering and Computing, MEDICON 2019
Country/TerritoryPortugal
CityCoimbra
Period26/09/1928/09/19

Bibliographical note

Funding Information:
Acknowledgements. This work was supported by the European Union’s Horizon 2020 research and innovation programme under grant agreement No. 732515.

Publisher Copyright:
© 2020, Springer Nature Switzerland AG.

Keywords

  • Active constraints
  • Force feedback
  • Medical robotics
  • Palpation
  • Teleoperation

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