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

doi:10.1007/978-3-030-31635-8_194

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 proceeding › Conference 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 language	English
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
Publisher	Springer
Pages	1571-1580
Number of pages	10
ISBN (Print)	9783030316341
DOIs	https://doi.org/10.1007/978-3-030-31635-8_194
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

Publication series

Name	IFMBE Proceedings
Volume	76
ISSN (Print)	1680-0737
ISSN (Electronic)	1433-9277

Conference

Conference	15th Mediterranean Conference on Medical and Biological Engineering and Computing, MEDICON 2019
Country/Territory	Portugal
City	Coimbra
Period	26/09/19 → 28/09/19

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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10.1007/978-3-030-31635-8_194

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Psomopoulou, E., Persad, R., Koupparis, A., Abeywardena, S., Sani, M. F., Melhuish, C., & Dogramadzi, S. (2020). Evaluation of Force Feedback for Palpation and Application of Active Constraints on a Teleoperated System. In J. Henriques, P. de Carvalho, & N. Neves (Eds.), 15th Mediterranean Conference on Medical and Biological Engineering and Computing – MEDICON 2019 - Proceedings of MEDICON 2019 (pp. 1571-1580). (IFMBE Proceedings; Vol. 76). Springer. https://doi.org/10.1007/978-3-030-31635-8_194

Psomopoulou, Efi ; Persad, Raj ; Koupparis, Anthony et al. / Evaluation of Force Feedback for Palpation and Application of Active Constraints on a Teleoperated System. 15th Mediterranean Conference on Medical and Biological Engineering and Computing – MEDICON 2019 - Proceedings of MEDICON 2019. editor / Jorge Henriques ; Paulo de Carvalho ; Nuno Neves. Springer, 2020. pp. 1571-1580 (IFMBE Proceedings).

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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{\textquoteright}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.",

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note = "Funding Information: Acknowledgements. This work was supported by the European Union{\textquoteright}s Horizon 2020 research and innovation programme under grant agreement No. 732515. Publisher Copyright: {\textcopyright} 2020, Springer Nature Switzerland AG.; 15th Mediterranean Conference on Medical and Biological Engineering and Computing, MEDICON 2019 ; Conference date: 26-09-2019 Through 28-09-2019",

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Psomopoulou, E, Persad, R, Koupparis, A, Abeywardena, S, Sani, MF, Melhuish, C & Dogramadzi, S 2020, Evaluation of Force Feedback for Palpation and Application of Active Constraints on a Teleoperated System. in J Henriques, P de Carvalho & N Neves (eds), 15th Mediterranean Conference on Medical and Biological Engineering and Computing – MEDICON 2019 - Proceedings of MEDICON 2019. IFMBE Proceedings, vol. 76, Springer, pp. 1571-1580, 15th Mediterranean Conference on Medical and Biological Engineering and Computing, MEDICON 2019, Coimbra, Portugal, 26/09/19. https://doi.org/10.1007/978-3-030-31635-8_194

Evaluation of Force Feedback for Palpation and Application of Active Constraints on a Teleoperated System. / Psomopoulou, Efi; Persad, Raj; Koupparis, Anthony et al.

15th Mediterranean Conference on Medical and Biological Engineering and Computing – MEDICON 2019 - Proceedings of MEDICON 2019. ed. / Jorge Henriques; Paulo de Carvalho; Nuno Neves. Springer, 2020. p. 1571-1580 (IFMBE Proceedings; Vol. 76).

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

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AU - Abeywardena, Sajeeva

AU - Sani, Mohammad Fattahi

AU - Melhuish, Chris

AU - Dogramadzi, Sanja

N1 - 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.

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AB - 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.

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Psomopoulou E, Persad R, Koupparis A, Abeywardena S, Sani MF, Melhuish C et al. Evaluation of Force Feedback for Palpation and Application of Active Constraints on a Teleoperated System. In Henriques J, de Carvalho P, Neves N, editors, 15th Mediterranean Conference on Medical and Biological Engineering and Computing – MEDICON 2019 - Proceedings of MEDICON 2019. Springer. 2020. p. 1571-1580. (IFMBE Proceedings). doi: 10.1007/978-3-030-31635-8_194

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

Abstract

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Bibliographical note

Keywords

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