Characterization of Dynamic Gripping Force Feedback for Robot-Assisted Surgery

Haptic feedback of gripping forces during robotassisted surgery can benefit the surgical outcome by means of reduced forces applied to the tissue. A custom-designed haptic user interface allows to control four degrees of freedom of the instrument’s endeffector and to display gripping forces. System-...

Full description

Saved in:
Bibliographic Details
Published in:Current directions in biomedical engineering 2024-09, Vol.10 (2), p.62-65
Main Authors: Schäfer, Max B., Riepe, Sarah, Parenzan, Matthias, Bauer, Christian J. E., Hotz, Jonas, Meiringer, Johannes G., Weiland, Sophie, Pott, Peter P.
Format: Article
Language:English
Subjects:
force feedback
gripping forces
haptic feedback
robot-assisted surgery
telemanipulation
user interface
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:Haptic feedback of gripping forces during robotassisted surgery can benefit the surgical outcome by means of reduced forces applied to the tissue. A custom-designed haptic user interface allows to control four degrees of freedom of the instrument’s endeffector and to display gripping forces. System-centered evaluation is performed to assess its capability of displaying feedback with high mechanical bandwidth. In addition, the perception of gripping forces is evaluated using task-centered methods. Two tasks were performed by ten participants to assess the perceived feedback regarding size and stiffness of grasped objects. Maximum feedback forces of 4.3N and a mechanical bandwidth of 73.5 Hz are achieved. Tests with participants showed promising results regarding the discrimination of size and stiffness of grasped objects.
ISSN:2364-5504
2364-5504
DOI:10.1515/cdbme-2024-1068