TIMS: A Tactile Internet-Based Micromanipulation System with Haptic Guidance for Surgical Training

Jialin Lin, Xiaoqing Guo, Wen Fan, Wei Li, Yuanyi Wang, Jiaming Liang, Weiru Liu, Lei Wei, Dandan Zhang*

*Corresponding author for this work

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

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Abstract

Microsurgery involves the dexterous manipulation of delicate tissue or fragile structures, such as small blood vessels and nerves, under a microscope. To address the limitations of imprecise manipulation of human hands, robotic systems have been developed to assist surgeons in performing complex microsurgical tasks with greater precision and safety. However, the steep learning curve for robot-assisted microsurgery (RAMS) and the shortage of well-trained surgeons pose significant challenges to the widespread adoption of RAMS. Therefore, the development of a versatile training system for RAMS is necessary, which can bring tangible benefits to both surgeons and patients. In this paper, we present a Tactile Internet-Based Micromanipulation System (TIMS) based on a ROS-Django web-based architecture for microsurgical training. This system can provide tactile feedback to operators via a wearable tactile display (WTD), while real-time data is transmitted through the internet via a ROS-Django framework. In addition, TIMS integrates haptic guidance to ‘guide’ the trainees to follow a desired trajectory provided by expert surgeons. Learning from demonstration based on Gaussian Process Regression (GPR) was used to generate the desired trajectory. We conducted user studies to verify the effectiveness of our proposed TIMS, comparing users' performance with and without tactile feedback and/or haptic guidance. For more details of this project, please view our website: https://sites.google.com/view/viewtims/home.
Original languageEnglish
Title of host publication2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages5114-5121
Number of pages8
ISBN (Electronic)978-1-6654-9190-7
ISBN (Print)978-1-6654-9191-4
DOIs
Publication statusPublished - 13 Dec 2023
EventIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023) - Huntington Place, Detroit, Michigan, United States
Duration: 1 Oct 20235 Oct 2023
https://ieee-iros.org/

Publication series

NameIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
PublisherIEEE
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023)
Country/TerritoryUnited States
CityDetroit, Michigan
Period1/10/235/10/23
Internet address

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