Perception and Action in Teleoperated Needle Insertion
Identifieur interne : 001802 ( Pmc/Curation ); précédent : 001801; suivant : 001803Perception and Action in Teleoperated Needle Insertion
Auteurs : Ilana Nisky ; Assaf Pressman ; Carla M. Pugh ; Ferdinando A. Mussa-Ivaldi ; Amir KarnielSource :
- IEEE transactions on haptics [ 1939-1412 ] ; 2011.
Abstract
We studied the effect of delay on perception and action in contact with a force field that emulates elastic soft tissue with a rigid nonlinear boundary. Such field is similar to forces exerted on a needle during teleoperated needle insertion. We found that delay causes motor underestimation of the stiffness of this nonlinear soft tissue, without perceptual change. These experimental results are supported by simulation of a simplified mechanical model of the arm and neural controller, and a model for perception of stiffness, which is based on regression in the force-position space. In addition, we show that changing the gain of the teleoperation channel cancels the motor effect of delay without adding perceptual distortion. We conclude that it is possible to achieve perceptual and motor transparency in virtual one-dimensional remote needle insertion task.
Url:
DOI: 10.1109/TOH.2011.30
PubMed: 26379813
PubMed Central: 4568759
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<pmc-dir>properties manuscript</pmc-dir>
<front><journal-meta><journal-id journal-id-type="nlm-journal-id">101491191</journal-id><journal-id journal-id-type="pubmed-jr-id">35594</journal-id><journal-id journal-id-type="nlm-ta">IEEE Trans Haptics</journal-id><journal-id journal-id-type="iso-abbrev">IEEE Trans Haptics</journal-id><journal-title-group><journal-title>IEEE transactions on haptics</journal-title></journal-title-group><issn pub-type="ppub">1939-1412</issn><issn pub-type="epub">2329-4051</issn></journal-meta><article-meta><article-id pub-id-type="pmid">26379813</article-id><article-id pub-id-type="pmc">4568759</article-id><article-id pub-id-type="doi">10.1109/TOH.2011.30</article-id><article-id pub-id-type="manuscript">NIHMS705348</article-id><article-categories><subj-group subj-group-type="heading"><subject>Article</subject></subj-group></article-categories><title-group><article-title>Perception and Action in Teleoperated Needle Insertion</article-title></title-group><contrib-group><contrib contrib-type="author"><name><surname>Nisky</surname><given-names>Ilana</given-names></name><aff id="A1">Department of biomedical engineering, Ben-Gurion University of the Negev, Beer-Sheva, Israel 84105</aff><email>nisky@bgu.ac.il</email></contrib><contrib contrib-type="author"><name><surname>Pressman</surname><given-names>Assaf</given-names></name><aff id="A2">Department of biomedical engineering, Ben-Gurion University of the Negev, Beer-Sheva, Israel 84105</aff><email>pressman@bgu.ac.il</email></contrib><contrib contrib-type="author"><name><surname>Pugh</surname><given-names>Carla M.</given-names></name><aff id="A3">Feinberg School of Medicine, Northwestern University, 201 E Huron St, Chicago, IL, 60611</aff><email>cpugh@nmh.org</email></contrib><contrib contrib-type="author"><name><surname>Mussa-Ivaldi</surname><given-names>Ferdinando A.</given-names></name><role>Member, IEEE</role><aff id="A4">Sensory Motor Performance Program, Rehabilitation Institute of Chicago, 345E. Superior Street, Chicago IL 60611</aff><email>sandro@northwestern.edu</email></contrib><contrib contrib-type="author"><name><surname>Karniel</surname><given-names>Amir</given-names></name><role>Senior Member IEEE</role><aff id="A5">Department of biomedical engineering, Ben-Gurion University of the Negev, Beer-Sheva, Israel 84105</aff><email>akarniel@bgu.ac.il</email></contrib></contrib-group><pub-date pub-type="nihms-submitted"><day>7</day><month>7</month><year>2015</year></pub-date><pub-date pub-type="epub"><day>8</day><month>8</month><year>2011</year></pub-date><pub-date pub-type="ppub"><season>May-Jun</season><year>2011</year></pub-date><pub-date pub-type="pmc-release"><day>14</day><month>9</month><year>2015</year></pub-date><volume>4</volume><issue>3</issue><fpage>155</fpage><lpage>166</lpage><pmc-comment>elocation-id from pubmed: 10.1109/TOH.2011.30</pmc-comment>
<self-uri xlink:href="http://ieeexplore.ieee.org/xpls/icp.jsp?arnumber=5871613"></self-uri><abstract><p id="P1">We studied the effect of delay on perception and action in contact with a force field that emulates elastic soft tissue with a rigid nonlinear boundary. Such field is similar to forces exerted on a needle during teleoperated needle insertion. We found that delay causes motor underestimation of the stiffness of this nonlinear soft tissue, without perceptual change. These experimental results are supported by simulation of a simplified mechanical model of the arm and neural controller, and a model for perception of stiffness, which is based on regression in the force-position space. In addition, we show that changing the gain of the teleoperation channel cancels the motor effect of delay without adding perceptual distortion. We conclude that it is possible to achieve perceptual and motor transparency in virtual one-dimensional remote needle insertion task.</p></abstract><kwd-group><title>Index Terms</title><kwd>Medical Simulation</kwd><kwd>Perception and Psychophysics</kwd><kwd>Telemanipulation</kwd><kwd>Transparency</kwd></kwd-group></article-meta></front></pmc></record>Pour manipuler ce document sous Unix (Dilib)
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