A Multielement Tactile Feedback System for Robot-Assisted Minimally Invasive Surgery

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%...

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Bibliographic Details
Published in:IEEE transactions on haptics 2009-01, Vol.2 (1), p.52-56
Main Authors: King, C.-H., Culjat, M.O., Franco, M.L., Bisley, J.W., Carman, G.P., Dutson, E.P., Grundfest, W.S.
Format: Article
Language:English
Subjects:
Control systems
Control theory
Displays
Feedback
Fingers
Force feedback
Force sensors
Haptics
Minimally invasive surgery
Real time control
Robot sensing systems
Sensor arrays
Sensor systems
Surgery
Surgical robotics
System design and analysis
Tactile
Tactile display
Tactile sensors
Telemanipulation
Testing
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Summary: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.
ISSN:1939-1412
2329-4051
DOI:10.1109/TOH.2008.19