Effect of sensory substitution on suture-manipulation forces for robotic surgical systems
Identifieur interne : 000B41 ( PascalFrancis/Checkpoint ); précédent : 000B40; suivant : 000B42Effect of sensory substitution on suture-manipulation forces for robotic surgical systems
Auteurs : Masaya Kitagawa [États-Unis] ; Daniell Dokko [États-Unis] ; Allison M. Okamura [États-Unis] ; David D. Yuh [États-Unis]Source :
- Journal of thoracic and cardiovascular surgery [ 0022-5223 ] ; 2005.
Descripteurs français
- Pascal (Inist)
- Wicri :
English descriptors
- KwdEn :
- Force, Heart, Manipulation, Robotics, Substitution, Surgery, Suture, System, Thorax, Treatment.
Abstract
Objectives: Direct haptic (force or tactile) feedback is not yet available in commercial robotic surgical systems. Previous work by our group and others suggests that haptic feedback might significantly enhance the execution of surgical tasks requiring fine suture manipulation, specifically those encountered in cardiothoracic surgery. We studied the effects of substituting direct haptic feedback with visual and auditory cues to provide the operating surgeon with a representation of the forces he or she is applying with robotic telemanipulators. Methods: Using the robotic da Vinci surgical system (Intuitive Surgical, Inc, Sunnyvale, Calif), we compared applied forces during a standardized surgical knot-tying task under 4 different sensory-substitution scenarios: no feedback, auditory feedback, visual feedback, and combined auditory-visual feedback. Results: The forces applied with these sensory-substitution modes more closely approximate suture tensions achieved under ideal haptic conditions (ie, hand ties) than forces applied without such sensory feedback. The consistency of applied forces during robot-assisted suture tying aided by visual feedback or combined auditory-visual feedback sensory substitution is superior to that achieved with hand ties. Robot-assisted ties aided with auditory feedback revealed levels of consistency that were generally equivalent or superior to those attained with hand ties. Visual feedback and auditory feedback improve the consistency of robotically applied forces. Conclusions: Sensory substitution, in the form of visual feedback, auditory feedback, or both, confers quantifiable advantages in applied force accuracy and consistency during the performance of a simple surgical task.
Affiliations:
Links toward previous steps (curation, corpus...)
Links to Exploration step
Pascal:05-0146348Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en" level="a">Effect of sensory substitution on suture-manipulation forces for robotic surgical systems</title>
<author><name sortKey="Kitagawa, Masaya" sort="Kitagawa, Masaya" uniqKey="Kitagawa M" first="Masaya" last="Kitagawa">Masaya Kitagawa</name>
<affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Department of Mechanical Engineering, Johns Hopkins University</s1>
<s2>Baltimore, Md</s2>
<s3>USA</s3>
<sZ>1 aut.</sZ>
<sZ>2 aut.</sZ>
<sZ>3 aut.</sZ>
</inist:fA14>
<country>États-Unis</country>
<wicri:noRegion>Baltimore, Md</wicri:noRegion>
</affiliation>
</author>
<author><name sortKey="Dokko, Daniell" sort="Dokko, Daniell" uniqKey="Dokko D" first="Daniell" last="Dokko">Daniell Dokko</name>
<affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Department of Mechanical Engineering, Johns Hopkins University</s1>
<s2>Baltimore, Md</s2>
<s3>USA</s3>
<sZ>1 aut.</sZ>
<sZ>2 aut.</sZ>
<sZ>3 aut.</sZ>
</inist:fA14>
<country>États-Unis</country>
<wicri:noRegion>Baltimore, Md</wicri:noRegion>
</affiliation>
</author>
<author><name sortKey="Okamura, Allison M" sort="Okamura, Allison M" uniqKey="Okamura A" first="Allison M." last="Okamura">Allison M. Okamura</name>
<affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Department of Mechanical Engineering, Johns Hopkins University</s1>
<s2>Baltimore, Md</s2>
<s3>USA</s3>
<sZ>1 aut.</sZ>
<sZ>2 aut.</sZ>
<sZ>3 aut.</sZ>
</inist:fA14>
<country>États-Unis</country>
<wicri:noRegion>Baltimore, Md</wicri:noRegion>
</affiliation>
</author>
<author><name sortKey="Yuh, David D" sort="Yuh, David D" uniqKey="Yuh D" first="David D." last="Yuh">David D. Yuh</name>
<affiliation wicri:level="1"><inist:fA14 i1="02"><s1>Division of Cardiac Surgery, Johns Hopkins Medical Institutions</s1>
<s2>Baltimore, Md</s2>
<s3>USA</s3>
<sZ>4 aut.</sZ>
</inist:fA14>
<country>États-Unis</country>
<wicri:noRegion>Baltimore, Md</wicri:noRegion>
</affiliation>
</author>
</titleStmt>
<publicationStmt><idno type="wicri:source">INIST</idno>
<idno type="inist">05-0146348</idno>
<date when="2005">2005</date>
<idno type="stanalyst">PASCAL 05-0146348 INIST</idno>
<idno type="RBID">Pascal:05-0146348</idno>
<idno type="wicri:Area/PascalFrancis/Corpus">000E99</idno>
<idno type="wicri:Area/PascalFrancis/Curation">000609</idno>
<idno type="wicri:Area/PascalFrancis/Checkpoint">000B41</idno>
</publicationStmt>
<sourceDesc><biblStruct><analytic><title xml:lang="en" level="a">Effect of sensory substitution on suture-manipulation forces for robotic surgical systems</title>
<author><name sortKey="Kitagawa, Masaya" sort="Kitagawa, Masaya" uniqKey="Kitagawa M" first="Masaya" last="Kitagawa">Masaya Kitagawa</name>
<affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Department of Mechanical Engineering, Johns Hopkins University</s1>
<s2>Baltimore, Md</s2>
<s3>USA</s3>
<sZ>1 aut.</sZ>
<sZ>2 aut.</sZ>
<sZ>3 aut.</sZ>
</inist:fA14>
<country>États-Unis</country>
<wicri:noRegion>Baltimore, Md</wicri:noRegion>
</affiliation>
</author>
<author><name sortKey="Dokko, Daniell" sort="Dokko, Daniell" uniqKey="Dokko D" first="Daniell" last="Dokko">Daniell Dokko</name>
<affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Department of Mechanical Engineering, Johns Hopkins University</s1>
<s2>Baltimore, Md</s2>
<s3>USA</s3>
<sZ>1 aut.</sZ>
<sZ>2 aut.</sZ>
<sZ>3 aut.</sZ>
</inist:fA14>
<country>États-Unis</country>
<wicri:noRegion>Baltimore, Md</wicri:noRegion>
</affiliation>
</author>
<author><name sortKey="Okamura, Allison M" sort="Okamura, Allison M" uniqKey="Okamura A" first="Allison M." last="Okamura">Allison M. Okamura</name>
<affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Department of Mechanical Engineering, Johns Hopkins University</s1>
<s2>Baltimore, Md</s2>
<s3>USA</s3>
<sZ>1 aut.</sZ>
<sZ>2 aut.</sZ>
<sZ>3 aut.</sZ>
</inist:fA14>
<country>États-Unis</country>
<wicri:noRegion>Baltimore, Md</wicri:noRegion>
</affiliation>
</author>
<author><name sortKey="Yuh, David D" sort="Yuh, David D" uniqKey="Yuh D" first="David D." last="Yuh">David D. Yuh</name>
<affiliation wicri:level="1"><inist:fA14 i1="02"><s1>Division of Cardiac Surgery, Johns Hopkins Medical Institutions</s1>
<s2>Baltimore, Md</s2>
<s3>USA</s3>
<sZ>4 aut.</sZ>
</inist:fA14>
<country>États-Unis</country>
<wicri:noRegion>Baltimore, Md</wicri:noRegion>
</affiliation>
</author>
</analytic>
<series><title level="j" type="main">Journal of thoracic and cardiovascular surgery</title>
<title level="j" type="abbreviated">J. thorac. cardiovasc. surg.</title>
<idno type="ISSN">0022-5223</idno>
<imprint><date when="2005">2005</date>
</imprint>
</series>
</biblStruct>
</sourceDesc>
<seriesStmt><title level="j" type="main">Journal of thoracic and cardiovascular surgery</title>
<title level="j" type="abbreviated">J. thorac. cardiovasc. surg.</title>
<idno type="ISSN">0022-5223</idno>
</seriesStmt>
</fileDesc>
<profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Force</term>
<term>Heart</term>
<term>Manipulation</term>
<term>Robotics</term>
<term>Substitution</term>
<term>Surgery</term>
<term>Suture</term>
<term>System</term>
<term>Thorax</term>
<term>Treatment</term>
</keywords>
<keywords scheme="Pascal" xml:lang="fr"><term>Chirurgie</term>
<term>Substitution</term>
<term>Suture</term>
<term>Manipulation</term>
<term>Force</term>
<term>Robotique</term>
<term>Système</term>
<term>Coeur</term>
<term>Thorax</term>
<term>Traitement</term>
</keywords>
<keywords scheme="Wicri" type="topic" xml:lang="fr"><term>Chirurgie</term>
<term>Robotique</term>
</keywords>
</textClass>
</profileDesc>
</teiHeader>
<front><div type="abstract" xml:lang="en">Objectives: Direct haptic (force or tactile) feedback is not yet available in commercial robotic surgical systems. Previous work by our group and others suggests that haptic feedback might significantly enhance the execution of surgical tasks requiring fine suture manipulation, specifically those encountered in cardiothoracic surgery. We studied the effects of substituting direct haptic feedback with visual and auditory cues to provide the operating surgeon with a representation of the forces he or she is applying with robotic telemanipulators. Methods: Using the robotic da Vinci surgical system (Intuitive Surgical, Inc, Sunnyvale, Calif), we compared applied forces during a standardized surgical knot-tying task under 4 different sensory-substitution scenarios: no feedback, auditory feedback, visual feedback, and combined auditory-visual feedback. Results: The forces applied with these sensory-substitution modes more closely approximate suture tensions achieved under ideal haptic conditions (ie, hand ties) than forces applied without such sensory feedback. The consistency of applied forces during robot-assisted suture tying aided by visual feedback or combined auditory-visual feedback sensory substitution is superior to that achieved with hand ties. Robot-assisted ties aided with auditory feedback revealed levels of consistency that were generally equivalent or superior to those attained with hand ties. Visual feedback and auditory feedback improve the consistency of robotically applied forces. Conclusions: Sensory substitution, in the form of visual feedback, auditory feedback, or both, confers quantifiable advantages in applied force accuracy and consistency during the performance of a simple surgical task.</div>
</front>
</TEI>
<inist><standard h6="B"><pA><fA01 i1="01" i2="1"><s0>0022-5223</s0>
</fA01>
<fA02 i1="01"><s0>JTCSAQ</s0>
</fA02>
<fA03 i2="1"><s0>J. thorac. cardiovasc. surg.</s0>
</fA03>
<fA05><s2>129</s2>
</fA05>
<fA06><s2>1</s2>
</fA06>
<fA08 i1="01" i2="1" l="ENG"><s1>Effect of sensory substitution on suture-manipulation forces for robotic surgical systems</s1>
</fA08>
<fA11 i1="01" i2="1"><s1>KITAGAWA (Masaya)</s1>
</fA11>
<fA11 i1="02" i2="1"><s1>DOKKO (Daniell)</s1>
</fA11>
<fA11 i1="03" i2="1"><s1>OKAMURA (Allison M.)</s1>
</fA11>
<fA11 i1="04" i2="1"><s1>YUH (David D.)</s1>
</fA11>
<fA14 i1="01"><s1>Department of Mechanical Engineering, Johns Hopkins University</s1>
<s2>Baltimore, Md</s2>
<s3>USA</s3>
<sZ>1 aut.</sZ>
<sZ>2 aut.</sZ>
<sZ>3 aut.</sZ>
</fA14>
<fA14 i1="02"><s1>Division of Cardiac Surgery, Johns Hopkins Medical Institutions</s1>
<s2>Baltimore, Md</s2>
<s3>USA</s3>
<sZ>4 aut.</sZ>
</fA14>
<fA20><s1>151-158</s1>
</fA20>
<fA21><s1>2005</s1>
</fA21>
<fA23 i1="01"><s0>ENG</s0>
</fA23>
<fA43 i1="01"><s1>INIST</s1>
<s2>9747</s2>
<s5>354000126487710210</s5>
</fA43>
<fA44><s0>0000</s0>
<s1>© 2005 INIST-CNRS. All rights reserved.</s1>
</fA44>
<fA45><s0>23 ref.</s0>
</fA45>
<fA47 i1="01" i2="1"><s0>05-0146348</s0>
</fA47>
<fA60><s1>P</s1>
</fA60>
<fA61><s0>A</s0>
</fA61>
<fA64 i1="01" i2="1"><s0>Journal of thoracic and cardiovascular surgery</s0>
</fA64>
<fA66 i1="01"><s0>USA</s0>
</fA66>
<fC01 i1="01" l="ENG"><s0>Objectives: Direct haptic (force or tactile) feedback is not yet available in commercial robotic surgical systems. Previous work by our group and others suggests that haptic feedback might significantly enhance the execution of surgical tasks requiring fine suture manipulation, specifically those encountered in cardiothoracic surgery. We studied the effects of substituting direct haptic feedback with visual and auditory cues to provide the operating surgeon with a representation of the forces he or she is applying with robotic telemanipulators. Methods: Using the robotic da Vinci surgical system (Intuitive Surgical, Inc, Sunnyvale, Calif), we compared applied forces during a standardized surgical knot-tying task under 4 different sensory-substitution scenarios: no feedback, auditory feedback, visual feedback, and combined auditory-visual feedback. Results: The forces applied with these sensory-substitution modes more closely approximate suture tensions achieved under ideal haptic conditions (ie, hand ties) than forces applied without such sensory feedback. The consistency of applied forces during robot-assisted suture tying aided by visual feedback or combined auditory-visual feedback sensory substitution is superior to that achieved with hand ties. Robot-assisted ties aided with auditory feedback revealed levels of consistency that were generally equivalent or superior to those attained with hand ties. Visual feedback and auditory feedback improve the consistency of robotically applied forces. Conclusions: Sensory substitution, in the form of visual feedback, auditory feedback, or both, confers quantifiable advantages in applied force accuracy and consistency during the performance of a simple surgical task.</s0>
</fC01>
<fC02 i1="01" i2="X"><s0>002B25E</s0>
</fC02>
<fC03 i1="01" i2="X" l="FRE"><s0>Chirurgie</s0>
<s5>05</s5>
</fC03>
<fC03 i1="01" i2="X" l="ENG"><s0>Surgery</s0>
<s5>05</s5>
</fC03>
<fC03 i1="01" i2="X" l="SPA"><s0>Cirugía</s0>
<s5>05</s5>
</fC03>
<fC03 i1="02" i2="X" l="FRE"><s0>Substitution</s0>
<s5>09</s5>
</fC03>
<fC03 i1="02" i2="X" l="ENG"><s0>Substitution</s0>
<s5>09</s5>
</fC03>
<fC03 i1="02" i2="X" l="SPA"><s0>Substitución</s0>
<s5>09</s5>
</fC03>
<fC03 i1="03" i2="X" l="FRE"><s0>Suture</s0>
<s5>10</s5>
</fC03>
<fC03 i1="03" i2="X" l="ENG"><s0>Suture</s0>
<s5>10</s5>
</fC03>
<fC03 i1="03" i2="X" l="SPA"><s0>Sutura</s0>
<s5>10</s5>
</fC03>
<fC03 i1="04" i2="X" l="FRE"><s0>Manipulation</s0>
<s5>11</s5>
</fC03>
<fC03 i1="04" i2="X" l="ENG"><s0>Manipulation</s0>
<s5>11</s5>
</fC03>
<fC03 i1="04" i2="X" l="SPA"><s0>Manipulación</s0>
<s5>11</s5>
</fC03>
<fC03 i1="05" i2="X" l="FRE"><s0>Force</s0>
<s5>12</s5>
</fC03>
<fC03 i1="05" i2="X" l="ENG"><s0>Force</s0>
<s5>12</s5>
</fC03>
<fC03 i1="05" i2="X" l="SPA"><s0>Fuerza</s0>
<s5>12</s5>
</fC03>
<fC03 i1="06" i2="X" l="FRE"><s0>Robotique</s0>
<s5>13</s5>
</fC03>
<fC03 i1="06" i2="X" l="ENG"><s0>Robotics</s0>
<s5>13</s5>
</fC03>
<fC03 i1="06" i2="X" l="SPA"><s0>Robótica</s0>
<s5>13</s5>
</fC03>
<fC03 i1="07" i2="X" l="FRE"><s0>Système</s0>
<s5>14</s5>
</fC03>
<fC03 i1="07" i2="X" l="ENG"><s0>System</s0>
<s5>14</s5>
</fC03>
<fC03 i1="07" i2="X" l="SPA"><s0>Sistema</s0>
<s5>14</s5>
</fC03>
<fC03 i1="08" i2="X" l="FRE"><s0>Coeur</s0>
<s5>15</s5>
</fC03>
<fC03 i1="08" i2="X" l="ENG"><s0>Heart</s0>
<s5>15</s5>
</fC03>
<fC03 i1="08" i2="X" l="SPA"><s0>Corazón</s0>
<s5>15</s5>
</fC03>
<fC03 i1="09" i2="X" l="FRE"><s0>Thorax</s0>
<s5>17</s5>
</fC03>
<fC03 i1="09" i2="X" l="ENG"><s0>Thorax</s0>
<s5>17</s5>
</fC03>
<fC03 i1="09" i2="X" l="SPA"><s0>Tórax</s0>
<s5>17</s5>
</fC03>
<fC03 i1="10" i2="X" l="FRE"><s0>Traitement</s0>
<s5>25</s5>
</fC03>
<fC03 i1="10" i2="X" l="ENG"><s0>Treatment</s0>
<s5>25</s5>
</fC03>
<fC03 i1="10" i2="X" l="SPA"><s0>Tratamiento</s0>
<s5>25</s5>
</fC03>
<fN21><s1>094</s1>
</fN21>
<fN44 i1="01"><s1>OTO</s1>
</fN44>
<fN82><s1>OTO</s1>
</fN82>
</pA>
</standard>
</inist>
<affiliations><list><country><li>États-Unis</li>
</country>
</list>
<tree><country name="États-Unis"><noRegion><name sortKey="Kitagawa, Masaya" sort="Kitagawa, Masaya" uniqKey="Kitagawa M" first="Masaya" last="Kitagawa">Masaya Kitagawa</name>
</noRegion>
<name sortKey="Dokko, Daniell" sort="Dokko, Daniell" uniqKey="Dokko D" first="Daniell" last="Dokko">Daniell Dokko</name>
<name sortKey="Okamura, Allison M" sort="Okamura, Allison M" uniqKey="Okamura A" first="Allison M." last="Okamura">Allison M. Okamura</name>
<name sortKey="Yuh, David D" sort="Yuh, David D" uniqKey="Yuh D" first="David D." last="Yuh">David D. Yuh</name>
</country>
</tree>
</affiliations>
</record>
Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/PascalFrancis/Checkpoint
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 000B41 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/PascalFrancis/Checkpoint/biblio.hfd -nk 000B41 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien |wiki= Ticri/CIDE |area= HapticV1 |flux= PascalFrancis |étape= Checkpoint |type= RBID |clé= Pascal:05-0146348 |texte= Effect of sensory substitution on suture-manipulation forces for robotic surgical systems }}
![]() | This area was generated with Dilib version V0.6.23. | ![]() |