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A haptic interface for computer-integrated endoscopic surgery and training

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Abstract

Haptic feedback has the potential to provide superior performance in computer-integrated surgery and training. This paper discusses the design of a user interface that is capable of providing force feedback in all the degrees of freedom (DOFs) available during endoscopic surgery. Using the Jacobian matrix of the haptic interface and its singular values, methods are proposed for analysis and optimization of the interface performance with regard to the accuracy of force feedback, the range of applicable forces, and the accuracy of control. The haptic user interface is used with a sensorized slave robot to form a master–slave test-bed for studying haptic interaction in a minimally invasive environment. Using the master–slave test-bed, teleoperation experiments involving a single degree of freedom surgical task (palpation) are conducted. Different bilateral control methods are compared based on the transparency of the master–slave system in terms of transmitting the critical task-related information to the user in the context of soft-tissue surgical applications.

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Notes

  1. Similarly, in a virtual-reality environment, the user manipulates virtual and usually deformable objects and receives force feedback through an interface similar to the master interface in master–slave robotic surgery [25]

  2. These two mechanisms have been intentionally placed on opposite sides of the fulcrum in order to have as much static balancing as possible.

  3. At maximum force (high stiffness resistance against the user’s hand), the motor is almost steady.

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Acknowledgment

This research was supported by the Ontario Research and Development Challenge Fund under grant 00-May-0709, infrastructure grants from the Canada Foundation for Innovation awarded to the London Health Sciences Centre (CSTAR) and the University of Western Ontario, the Natural Sciences and Engineering Research Council (NSERC) of Canada under grants RGPIN-1345 and RGPIN-227612, and the Institute for Robotics and Intelligent Systems under a CSA-IRIS grant.

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Authors and Affiliations

  1. Canadian Surgical Technologies and Advanced Robotics, London Health Sciences Centre, 339 Winderemere Road, London, Ont, N6A 5A5, Canada

    M. Tavakoli, R. V. Patel & M. Moallem

  2. Department of Electrical and Computer Engineering, University of Western Ontario, London, Ont, N6A 5B9, Canada

    M. Tavakoli, R. V. Patel & M. Moallem

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  1. M. Tavakoli
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  2. R. V. Patel
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  3. M. Moallem
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Correspondence to M. Tavakoli.

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Tavakoli, M., Patel, R.V. & Moallem, M. A haptic interface for computer-integrated endoscopic surgery and training. Virtual Reality 9, 160–176 (2006). https://doi.org/10.1007/s10055-005-0017-z

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