Haptic feedback in OP:Sense - augmented reality in telemanipulated robotic surgery.
Identifieur interne : 002388 ( Main/Curation ); précédent : 002387; suivant : 002389Haptic feedback in OP:Sense - augmented reality in telemanipulated robotic surgery.
Auteurs : T. Beyl [Allemagne] ; P. Nicolai ; H. Mönnich ; J. Raczkowksy ; H. WörnSource :
- Studies in health technology and informatics [ 0926-9630 ] ; 2012.
English descriptors
- KwdEn :
- MESH :
- instrumentation : Surgery, Computer-Assisted.
- Feedback, Humans, Robotics, Software, Touch Perception.
Abstract
In current research, haptic feedback in robot assisted interventions plays an important role. However most approaches to haptic feedback only regard the mapping of the current forces at the surgical instrument to the haptic input devices, whereas surgeons demand a combination of medical imaging and telemanipulated robotic setups. In this paper we describe how this feature is integrated in our robotic research platform OP:Sense. The proposed method allows the automatic transfer of segmented imaging data to the haptic renderer and therefore allows enriching the haptic feedback with virtual fixtures based on imaging data. Anatomical structures are extracted from pre-operative generated medical images or virtual walls are defined by the surgeon inside the imaging data. Combining real forces with virtual fixtures can guide the surgeon to the regions of interest as well as helps to prevent the risk of damage to critical structures inside the patient. We believe that the combination of medical imaging and telemanipulation is a crucial step for the next generation of MIRS-systems.
PubMed: 22356957
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pubmed:22356957Le document en format XML
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<front><div type="abstract" xml:lang="en">In current research, haptic feedback in robot assisted interventions plays an important role. However most approaches to haptic feedback only regard the mapping of the current forces at the surgical instrument to the haptic input devices, whereas surgeons demand a combination of medical imaging and telemanipulated robotic setups. In this paper we describe how this feature is integrated in our robotic research platform OP:Sense. The proposed method allows the automatic transfer of segmented imaging data to the haptic renderer and therefore allows enriching the haptic feedback with virtual fixtures based on imaging data. Anatomical structures are extracted from pre-operative generated medical images or virtual walls are defined by the surgeon inside the imaging data. Combining real forces with virtual fixtures can guide the surgeon to the regions of interest as well as helps to prevent the risk of damage to critical structures inside the patient. We believe that the combination of medical imaging and telemanipulation is a crucial step for the next generation of MIRS-systems.</div>
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