Tool Contact Acceleration Feedback for Telerobotic Surgery.
Identifieur interne : 000E76 ( PubMed/Corpus ); précédent : 000E75; suivant : 000E77Tool Contact Acceleration Feedback for Telerobotic Surgery.
Auteurs : W. Mcmahan ; J. Gewirtz ; D. Standish ; P. Martin ; J A Kunkel ; M. Lilavois ; A. Wedmid ; D I Lee ; K J KuchenbeckerSource :
- IEEE transactions on haptics [ 1939-1412 ]
Abstract
Minimally invasive telerobotic surgical systems enable surgeons to perform complicated procedures without large incisions. Unfortunately, these systems typically do not provide the surgeon with sensory feedback aside from stereoscopic vision. We have, thus, developed VerroTouch, a sensing and actuating device that can be added to Intuitive Surgical's existing da Vinci S Surgical System to provide auditory and vibrotactile feedback of tool contact accelerations. These cues let the surgeon feel and hear contact with rough textures as well as the making and breaking of contact with objects and other tools. To evaluate the merits of this approach, we had 11 surgeons use an augmented da Vinci S to perform three in vitro manipulation tasks under four different feedback conditions: with no acceleration feedback, with audio feedback, with haptic feedback, and with both audio and haptic. Subjects expressed a significant preference for the inclusion of tool contact acceleration feedback, although they disagreed over which sensory modality was best. Other survey responses and qualitative written comments indicate that the feedback may have improved the subject's concentration and situational awareness by strengthening the connection between the surgeon and the surgical instruments. Analysis of quantitative task metrics shows that the feedback neither improves nor impedes the performance of the chosen tasks.
DOI: 10.1109/TOH.2011.31
PubMed: 26963488
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Wedmid</name></author><author><name sortKey="Lee, D I" sort="Lee, D I" uniqKey="Lee D" first="D I" last="Lee">D I Lee</name></author><author><name sortKey="Kuchenbecker, K J" sort="Kuchenbecker, K J" uniqKey="Kuchenbecker K" first="K J" last="Kuchenbecker">K J Kuchenbecker</name></author></titleStmt><publicationStmt><idno type="wicri:source">PubMed</idno><date when="????"><PubDate><MedlineDate>2011 May-Jun</MedlineDate></PubDate></date><idno type="doi">10.1109/TOH.2011.31</idno><idno type="RBID">pubmed:26963488</idno><idno type="pmid">26963488</idno><idno type="wicri:Area/PubMed/Corpus">000E76</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">Tool Contact Acceleration Feedback for Telerobotic Surgery.</title><author><name sortKey="Mcmahan, W" sort="Mcmahan, W" uniqKey="Mcmahan W" first="W" last="Mcmahan">W. Mcmahan</name></author><author><name sortKey="Gewirtz, J" sort="Gewirtz, J" uniqKey="Gewirtz J" first="J" last="Gewirtz">J. Gewirtz</name></author><author><name sortKey="Standish, D" sort="Standish, D" uniqKey="Standish D" first="D" last="Standish">D. Standish</name></author><author><name sortKey="Martin, P" sort="Martin, P" uniqKey="Martin P" first="P" last="Martin">P. Martin</name></author><author><name sortKey="Kunkel, J A" sort="Kunkel, J A" uniqKey="Kunkel J" first="J A" last="Kunkel">J A Kunkel</name></author><author><name sortKey="Lilavois, M" sort="Lilavois, M" uniqKey="Lilavois M" first="M" last="Lilavois">M. Lilavois</name></author><author><name sortKey="Wedmid, A" sort="Wedmid, A" uniqKey="Wedmid A" first="A" last="Wedmid">A. Wedmid</name></author><author><name sortKey="Lee, D I" sort="Lee, D I" uniqKey="Lee D" first="D I" last="Lee">D I Lee</name></author><author><name sortKey="Kuchenbecker, K J" sort="Kuchenbecker, K J" uniqKey="Kuchenbecker K" first="K J" last="Kuchenbecker">K J Kuchenbecker</name></author></analytic><series><title level="j">IEEE transactions on haptics</title><idno type="ISSN">1939-1412</idno></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">Minimally invasive telerobotic surgical systems enable surgeons to perform complicated procedures without large incisions. Unfortunately, these systems typically do not provide the surgeon with sensory feedback aside from stereoscopic vision. We have, thus, developed VerroTouch, a sensing and actuating device that can be added to Intuitive Surgical's existing da Vinci S Surgical System to provide auditory and vibrotactile feedback of tool contact accelerations. These cues let the surgeon feel and hear contact with rough textures as well as the making and breaking of contact with objects and other tools. To evaluate the merits of this approach, we had 11 surgeons use an augmented da Vinci S to perform three in vitro manipulation tasks under four different feedback conditions: with no acceleration feedback, with audio feedback, with haptic feedback, and with both audio and haptic. Subjects expressed a significant preference for the inclusion of tool contact acceleration feedback, although they disagreed over which sensory modality was best. Other survey responses and qualitative written comments indicate that the feedback may have improved the subject's concentration and situational awareness by strengthening the connection between the surgeon and the surgical instruments. Analysis of quantitative task metrics shows that the feedback neither improves nor impedes the performance of the chosen tasks.</div></front></TEI><pubmed><MedlineCitation Owner="NLM" Status="PubMed-not-MEDLINE"><PMID Version="1">26963488</PMID><DateCreated><Year>2016</Year><Month>03</Month><Day>11</Day></DateCreated><DateCompleted><Year>2016</Year><Month>03</Month><Day>12</Day></DateCompleted><Article PubModel="Print"><Journal><ISSN IssnType="Print">1939-1412</ISSN><JournalIssue CitedMedium="Print"><Volume>4</Volume><Issue>3</Issue><PubDate><MedlineDate>2011 May-Jun</MedlineDate></PubDate></JournalIssue><Title>IEEE transactions on haptics</Title><ISOAbbreviation>IEEE Trans Haptics</ISOAbbreviation></Journal><ArticleTitle>Tool Contact Acceleration Feedback for Telerobotic Surgery.</ArticleTitle><Pagination><MedlinePgn>210-20</MedlinePgn></Pagination><ELocationID EIdType="doi" ValidYN="Y">10.1109/TOH.2011.31</ELocationID><Abstract><AbstractText>Minimally invasive telerobotic surgical systems enable surgeons to perform complicated procedures without large incisions. Unfortunately, these systems typically do not provide the surgeon with sensory feedback aside from stereoscopic vision. We have, thus, developed VerroTouch, a sensing and actuating device that can be added to Intuitive Surgical's existing da Vinci S Surgical System to provide auditory and vibrotactile feedback of tool contact accelerations. These cues let the surgeon feel and hear contact with rough textures as well as the making and breaking of contact with objects and other tools. To evaluate the merits of this approach, we had 11 surgeons use an augmented da Vinci S to perform three in vitro manipulation tasks under four different feedback conditions: with no acceleration feedback, with audio feedback, with haptic feedback, and with both audio and haptic. Subjects expressed a significant preference for the inclusion of tool contact acceleration feedback, although they disagreed over which sensory modality was best. Other survey responses and qualitative written comments indicate that the feedback may have improved the subject's concentration and situational awareness by strengthening the connection between the surgeon and the surgical instruments. Analysis of quantitative task metrics shows that the feedback neither improves nor impedes the performance of the chosen tasks.</AbstractText></Abstract><AuthorList CompleteYN="Y"><Author ValidYN="Y"><LastName>McMahan</LastName><ForeName>W</ForeName><Initials>W</Initials></Author><Author ValidYN="Y"><LastName>Gewirtz</LastName><ForeName>J</ForeName><Initials>J</Initials></Author><Author ValidYN="Y"><LastName>Standish</LastName><ForeName>D</ForeName><Initials>D</Initials></Author><Author ValidYN="Y"><LastName>Martin</LastName><ForeName>P</ForeName><Initials>P</Initials></Author><Author ValidYN="Y"><LastName>Kunkel</LastName><ForeName>J A</ForeName><Initials>JA</Initials></Author><Author ValidYN="Y"><LastName>Lilavois</LastName><ForeName>M</ForeName><Initials>M</Initials></Author><Author ValidYN="Y"><LastName>Wedmid</LastName><ForeName>A</ForeName><Initials>A</Initials></Author><Author ValidYN="Y"><LastName>Lee</LastName><ForeName>D I</ForeName><Initials>DI</Initials></Author><Author ValidYN="Y"><LastName>Kuchenbecker</LastName><ForeName>K J</ForeName><Initials>KJ</Initials></Author></AuthorList><Language>eng</Language><PublicationTypeList><PublicationType UI="D016428">Journal Article</PublicationType></PublicationTypeList></Article><MedlineJournalInfo><Country>United States</Country><MedlineTA>IEEE Trans Haptics</MedlineTA><NlmUniqueID>101491191</NlmUniqueID><ISSNLinking>1939-1412</ISSNLinking></MedlineJournalInfo></MedlineCitation><PubmedData><History><PubMedPubDate PubStatus="entrez"><Year>2016</Year><Month>3</Month><Day>11</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="pubmed"><Year>2011</Year><Month>5</Month><Day>1</Day><Hour>0</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="medline"><Year>2011</Year><Month>5</Month><Day>1</Day><Hour>0</Hour><Minute>1</Minute></PubMedPubDate></History><PublicationStatus>ppublish</PublicationStatus><ArticleIdList><ArticleId IdType="doi">10.1109/TOH.2011.31</ArticleId><ArticleId IdType="pubmed">26963488</ArticleId></ArticleIdList></PubmedData></pubmed></record>Pour manipuler ce document sous Unix (Dilib)
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