Title :
A Multielement Tactile Feedback System for Robot-Assisted Minimally Invasive Surgery
Author :
King, Chih-Hung ; Culjat, Martin O. ; Franco, Miguel L. ; Bisley, James W. ; Carman, Gregory P. ; Dutson, Erik P. ; Grundfest, Warren S.
Author_Institution :
Center for Adv. Surg. & Interventional Technol. (CASIT), Univ. of California at Los Angeles, Los Angeles, CA
Abstract :
A multi-element tactile feedback (MTF) system has been developed to translate the force distribution, in magnitude and position, from 3times2 sensor arrays on surgical robotic end-effectors to the fingers via 3times2 balloon tactile displays. High detection accuracies from perceptual tests (> 96%) suggest that MTF may be an effective means to improve robotic control.
Keywords :
end effectors; haptic interfaces; medical robotics; position control; surgery; force distribution; multielement tactile feedback system; robot-assisted minimally invasive surgery; surgical robotic end-effector; tactile display; Displays; Fingers; Force feedback; Force sensors; Minimally invasive surgery; Robot sensing systems; Sensor arrays; Sensor systems; Tactile sensors; Testing; Real time control; Surgical robotics; System design and analysis; Tactile display; Telemanipulation;
Journal_Title :
Haptics, IEEE Transactions on
DOI :
10.1109/TOH.2008.19
