Cutaneous Feedback of Fingertip Deformation and Vibration for Palpation in Robotic Surgery

• Published in: IEEE transactions on biomedical engineering Vol. 63; no. 2; pp. 278 - 287
• Main Authors: Pacchierotti, Claudio, Prattichizzo, Domenico, Kuchenbecker, Katherine J.
• Format: Journal Article
• Language: English
• Published: United States IEEE 01.02.2016; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Contact; Control systems; Control theory; Controllers; Data collection; Deformation; Equipment Design; Feedback; Female; Fingers - physiology; Haptic interfaces; Humans; Male; Robot sensing systems; Robotic Surgical Procedures - instrumentation; Robotic Surgical Procedures - methods; Robots; Servomotors; Signal Processing, Computer-Assisted; Surgery; Touch - physiology; Vibration; Vibrations; Force feedback; tactile sensors; medical robotics; haptic interfaces; surgery

Despite its expected clinical benefits, current teleoperated surgical robots do not provide the surgeon with haptic feedback largely because grounded forces can destabilize the system's closed-loop controller. This paper presents an alternative approach that enables the surgeon to feel fingerti...