Multi-Modal Haptic Feedback for Grip Force Reduction in Robotic Surgery. 2019

Ahmad Abiri, and Jake Pensa, and Anna Tao, and Ji Ma, and Yen-Yi Juo, and Syed J Askari, and James Bisley, and Jacob Rosen, and Erik P Dutson, and Warren S Grundfest
UCLA Center for Advanced Surgical and Interventional Technology (CASIT), Los Angeles, USA. aabiri@ucla.edu.

Minimally invasive robotic surgery allows for many advantages over traditional surgical procedures, but the loss of force feedback combined with a potential for strong grasping forces can result in excessive tissue damage. Single modality haptic feedback systems have been designed and tested in an attempt to diminish grasping forces, but the results still fall short of natural performance. A multi-modal pneumatic feedback system was designed to allow for tactile, kinesthetic, and vibrotactile feedback, with the aims of more closely imitating natural touch and further improving the effectiveness of HFS in robotic surgical applications and tasks such as tissue grasping and manipulation. Testing of the multi-modal system yielded very promising results with an average force reduction of nearly 50% between the no feedback and hybrid (tactile and kinesthetic) trials (p < 1.0E-16). The multi-modal system demonstrated an increased reduction over single modality feedback solutions and indicated that the system can help users achieve average grip forces closer to those normally possible with the human hand.

UI MeSH Term Description Entries
D004867 Equipment Design Methods and patterns of fabricating machines and related hardware. Design, Equipment,Device Design,Medical Device Design,Design, Medical Device,Designs, Medical Device,Device Design, Medical,Device Designs, Medical,Medical Device Designs,Design, Device,Designs, Device,Designs, Equipment,Device Designs,Equipment Designs
D006225 Hand The distal part of the arm beyond the wrist in humans and primates, that includes the palm, fingers, and thumb. Hands
D006801 Humans Members of the species Homo sapiens. Homo sapiens,Man (Taxonomy),Human,Man, Modern,Modern Man
D012371 Robotics The application of electronic, computerized control systems to mechanical devices designed to perform human functions. Formerly restricted to industry, but nowadays applied to artificial organs controlled by bionic (bioelectronic) devices, like automated insulin pumps and other prostheses. Companion Robots,Humanoid Robots,Remote Operations (Robotics),Social Robots,Socially Assistive Robots,Telerobotics,Soft Robotics,Assistive Robot, Socially,Companion Robot,Humanoid Robot,Operation, Remote (Robotics),Operations, Remote (Robotics),Remote Operation (Robotics),Robot, Companion,Robot, Humanoid,Robot, Social,Robot, Socially Assistive,Robotic, Soft,Social Robot,Socially Assistive Robot,Soft Robotic
D014110 Touch Sensation of making physical contact with objects, animate or inanimate. Tactile stimuli are detected by MECHANORECEPTORS in the skin and mucous membranes. Tactile Sense,Sense of Touch,Taction,Sense, Tactile,Senses, Tactile,Tactile Senses,Tactions,Touch Sense,Touch Senses
D055595 Mechanical Phenomena The properties and processes of materials that affect their behavior under force. Mechanical Concepts,Mechanical Processes,Mechanical Phenomenon,Mechanical Process,Concept, Mechanical,Concepts, Mechanical,Mechanical Concept,Phenomena, Mechanical,Phenomenon, Mechanical,Process, Mechanical,Processes, Mechanical
D055698 Touch Perception The process by which the nature and meaning of tactile stimuli are recognized and interpreted by the brain, such as realizing the characteristics or name of an object being touched. Tactile Perception,Perception, Tactile,Perception, Touch,Perceptions, Tactile,Perceptions, Touch,Tactile Perceptions,Touch Perceptions
D056228 Feedback, Sensory A mechanism of communicating one's own sensory system information about a task, movement or skill. Visual Feedback,Audio Feedback,Proprioceptive Feedback,Sensorimotor Feedback,Audio Feedbacks,Feedback, Audio,Feedback, Proprioceptive,Feedback, Sensorimotor,Feedback, Visual,Feedbacks, Audio,Feedbacks, Proprioceptive,Feedbacks, Sensorimotor,Feedbacks, Sensory,Feedbacks, Visual,Proprioceptive Feedbacks,Sensorimotor Feedbacks,Sensory Feedback,Sensory Feedbacks,Visual Feedbacks
D018737 Hand Strength Force exerted when gripping or grasping. Grasp,Grip,Grip Strength,Hand Grip Strength,Grasps,Grip Strength, Hand,Grips,Strength, Grip,Strength, Hand,Strength, Hand Grip
D019060 Minimally Invasive Surgical Procedures Procedures that avoid use of open, invasive surgery in favor of closed or local surgery. These generally involve use of laparoscopic devices and remote-controlled manipulation of instruments with indirect observation of the surgical field through an endoscope or similar device. Minimal Access Surgical Procedures,Minimal Surgical Procedures,Minimally Invasive Surgical Procedure,Surgical Procedures, Minimally Invasive,Minimal Surgical Procedure,Minimally Invasive Surgery,Procedure, Minimal Surgical,Procedures, Minimal Access Surgical,Procedures, Minimal Surgical,Procedures, Minimally Invasive Surgical,Surgical Procedure, Minimal,Surgical Procedures, Minimal,Surgical Procedures, Minimal Access,Minimally Invasive Surgeries,Surgeries, Minimally Invasive,Surgery, Minimally Invasive

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