DocumentCode :
3022500
Title :
Haptics-enabled teleoperation for robot-assisted tumor localization
Author :
Talasaz, A. ; Patel, R.V. ; Naish, M.D.
Author_Institution :
CSTAR, Lawson Health Res. Inst., London, ON, Canada
fYear :
2010
fDate :
3-7 May 2010
Firstpage :
5340
Lastpage :
5345
Abstract :
This paper focuses on the problem of incorporating haptics-enabled teleoperation in minimally invasive tumor localization. Since the stiffness of a tumor is higher than that of the surrounding tissue, it can be identified as a hard nodule when palpated. Using a Tactile Sensing Instrument (TSI) developed at CSTAR, the distributed pressure profiles along the contacting surface can be measured during remote tissue palpation. The tumor can be detected by using a visualization software that creates a color contour map based on the magnitude of the pressure over the palpated area. The accuracy of this method depends on the uniformity of the force applied to the tissue. A haptics-enabled teleoperation system provides the surgeon with the opportunity to feel the interaction force between the instrument and tissue during Minimally Invasive Surgery (MIS). The objective of this research was to assess the feasibility of combining force feedback with tactile feedback in order to increase the overall performance of tumor localization. The teleoperation system used in this work consists of a Mitsubishi PA10 robot as the slave that is remotely controlled (over a dedicated network) through a 7 Degree-Of-Freedom (DOF) haptic interface. A two-channel architecture, along with hybrid impedance control was utilized to form a bilateral teleoperation system in which the master is under force control and the slave is under position control. The experimental results confirm the effectiveness of using force feedback in robot-assisted tactile sensing for tumor detection.
Keywords :
data visualisation; force control; force feedback; haptic interfaces; medical computing; medical robotics; position control; surgery; tactile sensors; telerobotics; tumours; Mitsubishi PA10 robot; bilateral teleoperation system; color contour map; degree-of-freedom haptic interface; distributed pressure profiles; force control; force feedback; haptics-enabled teleoperation system; hybrid impedance control; minimally invasive tumor localization; position control; remote tissue palpation; remotely control; robot-assisted tactile sensing; robot-assisted tumor localization; tactile feedback; tactile sensing instrument; tumor detection; two-channel architecture; visualization software; Control systems; Data visualization; Force control; Force feedback; Instruments; Minimally invasive surgery; Neoplasms; Pressure measurement; Robot sensing systems; Surges;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2010 IEEE International Conference on
Conference_Location :
Anchorage, AK
ISSN :
1050-4729
Print_ISBN :
978-1-4244-5038-1
Electronic_ISBN :
1050-4729
Type :
conf
DOI :
10.1109/ROBOT.2010.5509667
Filename :
5509667
Link To Document :
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