Transcript Haptic Interfaces and Tactile Feedback

A New Generation of Surgical Technique:
Telesurgery
Using Haptic Interfaces
By Sarah L. Choy
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A haptic interface is a force reflecting device which allows a user to
touch, feel, manipulate, create and/or alter simulated objects in a
virtual environment. The nature of haptic interfaces allows a
surgeon to sense human tissue by means of force feedback, which
is sent via a high-speed network.
What is a Haptic Interface?
“Haptic” comes from the Greek meaning
“haptesthai”, to touch
• Human-robot interaction to support physical
manipulation of computer simulated objects
Haptic interface comprises of :
•Manipulandum: operator handle,
sensors
•Haptic Display: mechanical,
electrical and computer
hardware
Force Feedback
• Force Feedback:
• Devices that interact with muscles and
tendons giving the sensation of force is
being applied
• Multi force transducers
• Strain Gauges
What is Telesurgery?
• Surgery via long-distance communication links
• Telesurgical workstation restores manipulation and sensation
capabilities of surgeon
• Robot controlled through master will restore dexterity and force
feedback in real time
• Will allow professional surgeons to perform complex procedures
with higher precision overseas without leaving their office
• Instruments designed to enter the body cavity through
(usually 3) incisions of merely 1 cm in length
From Physical to Mechanical
• Surgeon:
• In multimedia “cockpit” equipped with stereoscopic screen and
master manipulators that sends control pulse to real-time controller
• Information is sent via communication link (LAN, ATM, satellite
communication, etc.) to surgical site
• Robot:
• Information is received at the surgical site through a real-time
controller and is inputted into slave manipulators, which perform
surgery on patient
• Feedback information is sent back via communication link (back
through real-time controllers) which in turn affect master
manipulators
• Throughout:
• Endoscope sends visual information via communication link from
robot to multimedia cockpit
Haptic Interfaces: Feedback
Channels
• Force feedback:
• Man-machine interface that directly connects
surgeon’s hands to motion of his surgical tool
tips inside patient’s body
• Visual feedback
• Visual feedback provided by
endoscope camera which transports
3D images in the same orientation as
master controller and monitor
The da Vinci and Zeus
Surgical Systems
• 7 degrees of freedom:
3 x orientation + 3 x translational + grip
• Filters out surgeon tremor making tool tip steadier
than unassisted hand
• Voice control allows surgeon to guide endoscope
From the Past to Present:
What the Future Holds
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1999: ZEUS made history in the world's first robotic-assisted
beating-heart bypass surgery
September 2001: a surgeon in New York performed
gallbladder surgery on a 68-year-old patient in Strasbourg,
France.
September 2002: ZEUS was granted clearance by Health
Canada in October 2002 for cardiac surgery and telesurgery
applications
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Eventually doctors may be able to use this technology to
operate on patients in dangerous or inaccessible locations
with the development of improved high-speed networks
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Use of tactile feedback, sensing heat and other textures
Use of optoelectronic sensors instead of metal strain gauges
References:
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Cavusoglu, Cenk, M., et al. 2001. Robotics for Telesurgery: Second Generation
Berkeley/UCSF Laparoscopic Telesurgical Workstation and Looking Towards Future
Applications. Proceedings of 39th Allerton Conference on Communication, Control
and Computing.
Centre for the Integration of Advanced Medicine and Innovative Technology. 2003. Future
Perspective. Website Accessed: February 10, 2004
<http://www.camit.org/english/future_pers.html>
Computer Motion. 2002. Zeus® Surgical System. Website Accessed: February 10, 2004
<http://www.computermotion.com/productsandsolutions/products/zeus/>
Guthart, Gary S. and Salisbury, Kenneth J. Jr. 2000. The Intuitive™Telesurgery System:
Overview and Application. Pro. IEEE. ICRA.
Intuitive Surgical Inc. 2003. da Vinci Surgical Systems. Website Accessed: February 10,
2004 <http://www.intuitivesurgical.com/products>
Mitsuishi, Mamoru, et al. 2003. Development of a Remote Minimally-Invasive Surgical
System with Operation Environment Transmission Capability. Pro. IEEE. ICRA.
Tavakoli, M., et al. 2003. A Force Reflective Master-Slave System for Minimal Invasive
Surgery. Pro. IEEE. International Conference on Intelligent Robots and Systems.