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Mediterranean Conference on Medical and Biological Engineering and Computing

MEDICON 2019: XV Mediterranean Conference on Medical and Biological Engineering and Computing – MEDICON 2019 pp 1571–1580Cite as

Evaluation of Force Feedback for Palpation and Application of Active Constraints on a Teleoperated System

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Part of the book series: IFMBE Proceedings ((IFMBE,volume 76))

Abstract

A desktop haptic device is used to teleoperate an industrial redundant and compliant robotic arm with a surgical instrument mounted on its end-effector. The master and slave devices are coupled in a bilateral position-position architecture. Force feedback is provided by the master haptic device to the user, from the position of the slave’s wrist. A surgical task (palpation) that involves force feedback is presented and tested in a user study with surgeons and non-medical participants. Results show that users easily discern between three different materials during palpation given minimal familiarisation time. Active constraint enforcement is also integrated with the system as a sensitive area around the palpation samples which the slave instrument is prohibited to enter.

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Acknowledgements

This work was supported by the European Union’s Horizon 2020 research and innovation programme under grant agreement No. 732515.

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Authors and Affiliations

  1. Bristol Robotics Laboratory, Coldharbour Lane, Bristol, UK

    Efi Psomopoulou, Sajeeva Abeywardena, Mohammad Fattahi Sani, Chris Melhuish & Sanja Dogramadzi

  2. Bristol Urological Institute, Southmead Hospital, Bristol, UK

    Raj Persad & Anthony Koupparis

Authors
  1. Efi Psomopoulou
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  2. Raj Persad
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  3. Anthony Koupparis
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  4. Sajeeva Abeywardena
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  5. Mohammad Fattahi Sani
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  6. Chris Melhuish
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  7. Sanja Dogramadzi
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Corresponding author

Correspondence to Efi Psomopoulou .

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Editors and Affiliations

  1. University of Coimbra, Coimbra, Portugal

    Jorge Henriques

  2. Universidade do Minho, Braga, Portugal

    Nuno Neves

  3. University of Coimbra, Coimbra, Portugal

    Paulo de Carvalho

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Psomopoulou, E. et al. (2020). Evaluation of Force Feedback for Palpation and Application of Active Constraints on a Teleoperated System. In: Henriques, J., Neves, N., de Carvalho, P. (eds) XV Mediterranean Conference on Medical and Biological Engineering and Computing – MEDICON 2019. MEDICON 2019. IFMBE Proceedings, vol 76. Springer, Cham. https://doi.org/10.1007/978-3-030-31635-8_194

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  • DOI: https://doi.org/10.1007/978-3-030-31635-8_194

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-31634-1

  • Online ISBN: 978-3-030-31635-8

  • eBook Packages: EngineeringEngineering (R0)

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