Teletactile system based on mechanical properties estimation

Issue title: Surgical Robotics

Article type: Research Article

Authors: Sette, Mauro M. | Van Brussel, Hendrik | Sloten, Jos Vander

Affiliations: Department of Mechanical Engineering, Katholieke Universiteit Leuven, Leuven, Belgium

Note: [] Corresponding author. E-mail: Mauro.Sette@mech.kuleuven.be

Abstract: Tactile feedback is a major missing feature in minimally invasive procedures; it is an essential means of diagnosis and orientation during surgical procedures. Previous works have presented a remote palpation feedback system based on the coupling between a pressure sensor and a general haptic interface. Here a new approach is presented based on the direct estimation of the tissue mechanical properties and finally their presentation to the operator by means of a haptic interface. The approach presents different technical difficulties and some solutions are proposed: the implementation of a fast Young's modulus estimation algorithm, the implementation of a real time finite element model, and finally the implementation of a stiffness estimation approach in order to guarantee the system's stability. The work is concluded with an experimental evaluation of the whole system.

Keywords: Tactile feedback, haptic, virtual environment, Kalman filter

DOI: 10.3233/ABB-2011-0023

Journal: Applied Bionics and Biomechanics, vol. 8, no. 2, pp. 237-252, 2011