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-...
Saved in:
| Main Authors: | , , , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
De Gruyter
2024-09-01
|
| Series: | Current Directions in Biomedical Engineering |
| Subjects: | |
| Online Access: | https://doi.org/10.1515/cdbme-2024-1068 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1832570486041608192 |
|---|---|
| author | Schäfer Max B. Riepe Sarah Parenzan Matthias Bauer Christian J. E. Hotz Jonas Meiringer Johannes G. Weiland Sophie Pott Peter P. |
| author_facet | Schäfer Max B. Riepe Sarah Parenzan Matthias Bauer Christian J. E. Hotz Jonas Meiringer Johannes G. Weiland Sophie Pott Peter P. |
| author_sort | Schäfer Max B. |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-3314f7a3e0944ad6a217298a2d7708ee |
| institution | Kabale University |
| issn | 2364-5504 |
| language | English |
| publishDate | 2024-09-01 |
| publisher | De Gruyter |
| record_format | Article |
| series | Current Directions in Biomedical Engineering |
| spelling | doaj-art-3314f7a3e0944ad6a217298a2d7708ee2025-02-02T15:45:00ZengDe GruyterCurrent Directions in Biomedical Engineering2364-55042024-09-01102626510.1515/cdbme-2024-1068Characterization of Dynamic Gripping Force Feedback for Robot-Assisted SurgerySchäfer Max B.0Riepe Sarah1Parenzan Matthias2Bauer Christian J. E.3Hotz Jonas4Meiringer Johannes G.5Weiland Sophie6Pott Peter P.7Institute of Medical Device Technology, University of Stuttgart, Pfaffenwaldring 9,Stuttgart, GermanyInstitute of Medical Device Technology, University of Stuttgart,Stuttgart, GermanyInstitute of Medical Device Technology, University of Stuttgart,Stuttgart, GermanyInstitute of Medical Device Technology, University of Stuttgart,Stuttgart, GermanyInstitute of Medical Device Technology, University of Stuttgart,Stuttgart, GermanyInstitute of Medical Device Technology, University of Stuttgart,Stuttgart, GermanyInstitute of Medical Device Technology, University of Stuttgart,Stuttgart, GermanyInstitute of Medical Device Technology, University of Stuttgart,Stuttgart, GermanyHaptic 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.https://doi.org/10.1515/cdbme-2024-1068haptic feedbackuser interfaceforce feedbackgripping forcestelemanipulationrobot-assisted surgery |
| spellingShingle | Schäfer Max B. Riepe Sarah Parenzan Matthias Bauer Christian J. E. Hotz Jonas Meiringer Johannes G. Weiland Sophie Pott Peter P. Characterization of Dynamic Gripping Force Feedback for Robot-Assisted Surgery Current Directions in Biomedical Engineering haptic feedback user interface force feedback gripping forces telemanipulation robot-assisted surgery |
| title | Characterization of Dynamic Gripping Force Feedback for Robot-Assisted Surgery |
| title_full | Characterization of Dynamic Gripping Force Feedback for Robot-Assisted Surgery |
| title_fullStr | Characterization of Dynamic Gripping Force Feedback for Robot-Assisted Surgery |
| title_full_unstemmed | Characterization of Dynamic Gripping Force Feedback for Robot-Assisted Surgery |
| title_short | Characterization of Dynamic Gripping Force Feedback for Robot-Assisted Surgery |
| title_sort | characterization of dynamic gripping force feedback for robot assisted surgery |
| topic | haptic feedback user interface force feedback gripping forces telemanipulation robot-assisted surgery |
| url | https://doi.org/10.1515/cdbme-2024-1068 |
| work_keys_str_mv | AT schafermaxb characterizationofdynamicgrippingforcefeedbackforrobotassistedsurgery AT riepesarah characterizationofdynamicgrippingforcefeedbackforrobotassistedsurgery AT parenzanmatthias characterizationofdynamicgrippingforcefeedbackforrobotassistedsurgery AT bauerchristianje characterizationofdynamicgrippingforcefeedbackforrobotassistedsurgery AT hotzjonas characterizationofdynamicgrippingforcefeedbackforrobotassistedsurgery AT meiringerjohannesg characterizationofdynamicgrippingforcefeedbackforrobotassistedsurgery AT weilandsophie characterizationofdynamicgrippingforcefeedbackforrobotassistedsurgery AT pottpeterp characterizationofdynamicgrippingforcefeedbackforrobotassistedsurgery |