The Community for Technology Leaders
RSS Icon
Issue No.02 - April-June (2013 vol.6)
pp: 217-228
A. Talasaz , Dept. of Electr. & Comput. Eng., Western Univ., London, ON, Canada
R. V. Patel , Dept. of Electr. & Comput. Eng., Western Univ., London, ON, Canada
Tactile sensing and force reflection have been the subject of considerable research for tumor localization in soft-tissue palpation. The work presented in this paper investigates the relevance of force feedback (presented visually as well as directly) during tactile sensing (presented visually only) for tumor localization using an experimental setup close to one that could be applied for real robotics-assisted minimally invasive surgery. The setup is a teleoperated (master-slave) system facilitated with a state-of-the-art minimally invasive probe with a rigidly mounted tactile sensor at the tip and an externally mounted force sensor at the base of the probe. The objective is to capture the tactile information and measure the interaction forces between the probe and tissue during palpation and to explore how they can be integrated to improve the performance of tumor localization. To quantitatively explore the effect of force feedback on tactile sensing tumor localization, several experiments were conducted by human subjects to locate artificial tumors embedded in the ex vivo bovine livers. The results show that using tactile sensing in a force-controlled environment can realize, on average, 57 percent decrease in the maximum force and 55 percent decrease in the average force applied to tissue while increasing the tumor detection accuracy by up to 50 percent compared to the case of using tactile feedback alone. The results also show that while visual presentation of force feedback gives straightforward quantitative measures, improved performance of tactile sensing tumor localization is achieved at the expense of longer times for the user. Also, the quickness and intuitive data mapping of direct force feedback makes it more appealing to experienced users.
Tumors, Force, Force feedback, Tactile sensors,minimally invasive surgery, Haptics, tactile feedback, force feedback, teleoperation, tumor localization
A. Talasaz, R. V. Patel, "Integration of Force Reflection with Tactile Sensing for Minimally Invasive Robotics-Assisted Tumor Localization", IEEE Transactions on Haptics, vol.6, no. 2, pp. 217-228, April-June 2013, doi:10.1109/TOH.2012.64
[1] W.J. Peine and R.D. Howe, "Do Humans Sense Finger Deformation or Distributed Pressure to Detect Lumps in Soft Tissue?," ASME Dynamic Systems and Control Division, pp. 273-278, 1998.
[2] E.P. Westebring, V.D. Putten, R.H.M. Goossens, J.J. Jakimowicz, and J. Dankelman, "Haptics in Minimally Invasive Surgery---A Review," Minimally Invasive Therapy, vol. 17, no. 1, pp. 3-16, 2008.
[3] A.M. Okamura, "Haptic Feedback in Robot-Assisted Minimally Invasive Surgery," Current Opinion in Urology, vol. 19, no. 1, pp. 102-107, 2009.
[4] P. Puangmali, K. Althoefer, L. Seneviratne, D. Murphy, and P. Dasgupta, "State-of-the-Art in Force and Tactile Sensing for Minimally Invasive Surgery," IEEE Sensors J., vol. 8, no. 4, pp. 371-381, Apr. 2008.
[5] R.S. Dahiya, G. Metta, M. Valle, and G. Sandini, "Tactile Sensing From Humans to Humanoids," IEEE Trans. Robotics, vol. 26, no. 1, pp. 1-20, Feb. 2010.
[6] G. Tholey, J.P. Desai, and A.E. Castellanos, "Force Feedback Plays a Significant Role in Minimally Invasive Surgery: Results and Analysis," Annals of Surgery, vol. 241, no. 1, pp. 102-109, 2005.
[7] A. Talasaz, R.V. Patel, and M.D. Naish, "Haptics-Enabled Teleoperation for Robot-Assisted Tumor Localization," Proc. IEEE Int'l Conf. Robotics and Automation, pp. 5340-5345, 2010.
[8] M.E.H. Eltaib and J.R. Hewit, "Tactile Sensing Technology for Minimal Access Surgery—A Review," Mechatronics, vol. 13, pp. 1163-1177, 2003.
[9] J. Dargahi, "An Integrated Forceposition Tactile Sensor for Improving Diagnostic and Therapeutic Endoscopic Surgery," Bio-Medical Materials and Eng., vol. 14, no. 2, pp. 151-166, 2004.
[10] A. Bicchi, G. Canepa, D.D. Rossi, P. Iacconit, and E.P. Scilingo, "A Sensor-Based Minimally Invasive Surgery Tool for Detecting Tissue Elastic Properties," Proc. IEEE Int'l Conf. Robotics and Automation, pp. 884-888, 1996.
[11] M. Tavakoli, R.V. Patel, and M. Moallem, "Haptic Interaction in Robot-Assisted Endoscopic Surgery: A Sensorized End-Effector," Int'l J. Medical Robotics and Computer Assisted Surgery, vol. 1, no. 2, pp. 53-63, 2005.
[12] M. Mahvash, J. Gwilliam, R. Agarwal, B. Vagvolgi, L.M. Su, D.D. Yuh, and A.M. Okamura, "Force-Feedback Surgical Teleoperator: Controller Design and Palpation Experiments," Proc. 16th Symp. Haptic Interfaces for Virtual Environments and Teleoperator Systems, pp. 465-471, 2008.
[13] M.V. Ottermo, M. Vstedal, T. Lang, Stavdahl, Y. Yavuz, T. Johansen, and R. Marvik, "The Role of Tactile Feedback in Laparoscopic Surgery," Surgical Laparoscopy Endoscopy and Percutaneous Techniques, vol. 16, no. 6, pp. 390-400, 2006.
[14] D.T.V. Pawluk, J.S. Son, P.S. Wellman, W.J. Peine, and R.D. Howe, "A Distributed Pressure Sensor for Biomechanical Measurements," ASME J. Biomechanical Eng., vol. 102, no. 2, pp. 302-305, 1998.
[15] R.D. Howe, W.J. Peine, D.A. Kontarinis, and J.S. Son, "Remote Palpation Technology for Surgical Applications," Eng. in Medicine and Biology Magazine, vol. 14, no. 3, pp. 318-323, 1995.
[16] M.B. Cohn, L.S. Crawford, J.M. Wendlant, and S.S. Sastry, "Surgical Applications of Milli-Robots," J. Robotic Systems, vol. 12, no. 6, pp. 401-416, 1995.
[17] S. Omata and Y. Terunuma, "New Tactile Sensor like the Human Hand and Its Applications," Sensors and Actuators A: Physical, vol. 35, no. 1, pp. 9-15, 1992.
[18] J.H. Killebrew, S.J. Bensmaia, J.F. Dammann, P. Denchev, S.S. Hsiao, J.C. Craig, and K.O. Johnson, "A Dense Array Stimulator to Generate Arbitrary Spatiotemporaltactile Stimuli," J. Neuroscience Methods, vol. 161, no. 1, pp. 62-74, 2007.
[19] M.V. Ottermo, O. Stavdahl, and T.A. Johansen, "Electromechanical Design of a Miniature Tactile Shape Display For Minimally Invasive Surgery," Proc. Symp. Haptic Interfaces for Virtual Environment and Teleoperator Systems (World Haptics), pp. 561-562, 2005.
[20] M. Culjat, C.H. King, M. Franco, J. Bisley, W. Grundfest, and E. Dutson, "Pneumatic Balloon Actuators for Tactile Feedback in Robotic Surgery," Industrial Robot, vol. 35, no. 5, pp. 449-455, 2008.
[21] A.P. Miller, Z. Hammoud, J.S. Son, and W.J. Peine, "Tactile Imaging System for Localizing Lung Nodules during Video Assisted Thoracoscopic Surgery," Proc. IEEE Int'l Conf. Robotics and Automation, pp. 2996-3001, 2007.
[22] M. Hosseini, S. Najarian, S. Motaghinasab, and J. Dargahi, "Detection of Tumours Using a Computational Tactile Sensing Approach," Int'l J. Medical Robotics and Computer Assisted Surgery, vol. 2, no. 4, pp. 333-340, 2006.
[23] J. Dargahi, S. Najarian, and R. Ramezanifard, "Graphical Display of Tactile Sensing Data with Application in Minimally Invasive Surgery," Canadian J. Electrical and Computer Eng., vol. 32, pp. 151-155, 2007.
[24] A.L. Trejos, J. Jayender, M.T. Perri, M.D. Naish, R.V. Patel, and R. Malthaner, "Robot-Assisted Tactile Sensing for Minimally Invasive Tumor Localization," Int'l J. Robotics Research, vol. 28, no. 9, pp. 1118-1133, May 2009.
[25] R.L. Feller, C.K.L. Lau, C.R. Wagner, D.P. Perrin, and R.D. Howe, "The Effect of Force Feedback on Remote Palpation," Proc. IEEE Int'l Conf. Robotics and Automation, pp. 782-788, 2004.
[26] C.R. Wagner, D.P. Perrin, R.L. Feller, R.D. Howe, O. Clatz, H. Delingette, and N. Ayache, "Integrating Tactile and Force Feedback with Finite Element Models," Proc. IEEE Int'l Conf. Robotics and Automation, pp. 1-6, 2005.
[27] M.T. Perri, A.L. Trejos, M.D. Naish, R.V. Patel, and R. Malthaner, "New Tactile Sensing System for Minimally Invasive Surgical Tumour Localization," Int'l J. Medical Robotics and Computer Assisted Surgery, vol. 6, pp. 211-220, Mar. 2010.
[28] Quanser, http:/, 2013.
[29] H. Bassan, A. Talasaz, and R.V. Patel, "Design and Characterization of a 7-DOF Haptic Interface for Minimally Invasive Surgery Test-Bed," Proc. IEEE/RSJ Conf. Intelligent Robots and Systems, 2009.
[30] R.S. Fearing, "Tactile Sensing Mechanisms," Int'l J. Robotics Research, vol. 9, no. 3, pp. 3-23, 1990.
[31] Pressure Profile Systems, Inc., http:/, 2013.
[32] ATI Industrial Automation, http:/, 2013.
[33] N. Zemiti, G. Morel, T. Ortmaier, and N. Bonnet, "Mechatronics Design of a New Robot for Force Control in Minimally Invasive Surgery," IEEE/ASME Trans. Mechatronics, vol. 12, no. 2, pp. 143-153, Apr. 2007.
[34] A. Talasaz, "Haptics-Enabled Teleoperation for Robotics-Assisted Minimally Invasive Surgery," PhD dissertation, Univ. of Western Ontario, 2012.
[35] A. Talasaz and R.V. Patel, "Remote Palpation to Localize Tumors Using a Robot-Assisted Minimally Invasive Approach," Proc. IEEE Int'l Conf. Robotics and Automation, pp. 3719-3724, 2012.
[36] A. Stotsky and I. Kolmanovsky, "Application of Input Estimation Techniques to Charge Estimation and Control in Automotive Engines," Control Eng. Practice, vol. 10, pp. 1371-1383, 2002.
[37] H. Khalil, "Adaptive Output Feedback Control of Nonlinear Systems Represented by Input-Output Models," IEEE Trans. Automatic Control, vol. 41, no. 2, pp. 177-188, Feb. 1996.
[38] M. Davidson, "The Interpretation of Diagnostic Tests: A Primer for Physiotherapists," Australian J. Physiotherapy, vol. 48, pp. 227-232, 2002.
[39] DLR, http:/, 2013.
34 ms
(Ver 2.0)

Marketing Automation Platform Marketing Automation Tool