Haptics for multi-fingered palpation

Min Li, Shan Luo, Lakmal D. Seneviratne, Thrish Nanayakkara, Kaspar Althoefer, Prokar Dasgupta

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

10 Scopus citations

Abstract

During open surgery, surgeons can perceive the locations of tumors inside soft-tissue organs using their fingers. Palpating an organ, surgeons acquire distributed pressure (tactile) information that can be interpreted as stiffness distribution across the organ - An important aid in detecting buried tumors in otherwise healthy tissue. Previous research has focused on haptic systems to feedback the tactile sensation experienced during palpation to the surgeon during minimally invasive. However, the control complexity and high cost of tactile actuators limits its current application. This paper describes a pneumatic multi-fingered haptic feedback system for robotassisted minimally invasive surgery. It simulates soft tissue stiffness by changing the pressure of an air balloon and recreates the deformation of fingers as experienced during palpation. The pneumatic haptic feedback actuator is validated by using finite element analysis. The results prove that the interaction stress between the fingertip and the soft tissue as well as the deformation of fingertips during palpation can be recreated by using our pneumatic multi-fingered haptic feedback method.

Original languageBritish English
Title of host publicationProceedings - 2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013
Pages4184-4189
Number of pages6
DOIs
StatePublished - 2013
Event2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013 - Manchester, United Kingdom
Duration: 13 Oct 201316 Oct 2013

Publication series

NameProceedings - 2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013

Conference

Conference2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013
Country/TerritoryUnited Kingdom
CityManchester
Period13/10/1316/10/13

Keywords

  • Finite element analysis
  • Haptic feedback
  • Multifingered palpation
  • Tumor identification

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