NDLI: Development and experimental validation of a master interface with vibrotactile feedback for robotic telesurgery

Content Provider	IEEE Xplore Digital Library
Author	Gambaro, E.F. Zollo, L. Guglielmelli, E.
Copyright Year	2014
Description	Author affiliation: Lab. of Biomed. Robot. & Biomicrosyst., Univ. Campus Bio-Medico, Rome, Italy (Gambaro, E.F.; Zollo, L.; Guglielmelli, E.)
Abstract	This work wants to investigate the efficacy of a vibro-tactile feedback to convey a haptic perception to the surgeon in a teleoperated robotic system for surgery. To this purpose, vibrotactile actuators have been embedded in the end-effector of the master interface of a tele-operated robotic system made of the haptic joystick Novint Falcon and the Kuka Light Weight Robot III. Vibrotactile feedback can be used to support the surgeon during the surgical procedure, guiding him/her during the intervention, and to train unskilled surgeons with simulators. The development and the experimental validation of the master interface with the vibrotactile feedback is presented in this paper. The system has been validated on 12 subjects, who were requested to control the movement of a sphere along a desired path in a virtual environment. Results have been compared with the three cases of absence of feedback, visual feedback and combined vibrotactile and visual feedback. The obtained results demonstrate that a vibrotactile feedback can improve in a statistically significant manner the accuracy of the procedure with respect to the absence of feedback.
Starting Page	726
Ending Page	731
File Size	566873
Page Count	6
File Format	PDF
ISBN	9781479931262
ISSN	21551774
e-ISBN	9781479931286
DOI	10.1109/BIOROB.2014.6913864
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-08-12
Publisher Place	Brazil
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Actuators Visualization Robot kinematics Surgery Robot sensing systems Haptic interfaces
Content Type	Text
Resource Type	Article

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