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Robert D. Howe
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Journal Articles
Publisher: Journals Gateway
Presence: Teleoperators and Virtual Environments (2007) 16 (3): 252–262.
Published: 01 June 2007
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Force feedback is widely assumed to enhance performance in robotic surgery, but its benefits have not yet been systematically assessed. In this study we examine the effects of force feedback on a blunt dissection task. Twenty subjects used a telerobotic system to expose an artery in a synthetic model while viewing the operative site with a video laparoscope. Subjects were drawn from a range of surgical backgrounds, from inexperienced to attending surgeons. Performance was compared between three force feedback gains: 0% (no force feedback), 37%, and 75%. The absence of force feedback increased the average force magnitude applied to the tissue by at least 50%, and increased the peak force magnitude by at least 100%. The number of errors that damage tissue increased by over a factor of 3. The rate and precision of dissection were not significantly enhanced with force feedback. These results hold across all levels of previous surgical experience. We hypothesize that force feedback is helpful in this blunt dissection task because the artery is stiffer than the surrounding tissue. This mechanical contrast serves to constrain the subject's hand from commanding inappropriate motions that generate large forces.
Journal Articles
Publisher: Journals Gateway
Presence: Teleoperators and Virtual Environments (1999) 8 (4): 394–411.
Published: 01 August 1999
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Many applications can be imagined for a system that processes sensory information collected during telemanipulation tasks in order to automatically identify properties of the remote environment. These applications include generating model-based simulations for training operators in critical procedures and improving real-time performance in unstructured environments or when time delays are large. This paper explores the research issues involved in developing such an identification system, focusing on properties that can be identified from remote manipulator motion and force data. As a case study, a simple block-stacking task, performed with a teleoperated two-fingered planar hand, is considered. An algorithm is presented that automatically segments the data collected during the task, given only a general description of the temporal sequence of task events. Using the segmented data, the algorithm then successfully estimates the weight, width, height, and coefficient of friction of the two blocks handled during the task. This data is used to calibrate a virtual model incorporating visual and haptic feedback. This case study highlights the broader research issues that must be addressed in automatic property identification.
Journal Articles
Publisher: Journals Gateway
Presence: Teleoperators and Virtual Environments (1995) 4 (4): 387–402.
Published: 01 November 1995
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This paper investigates the use of tactile displays for conveying task-related vibrations in teleoperation and virtual environments. Vibration displays can be implemented with inexpensive, open loop devices that can be added to many existing systems to improve performance. We describe the design of our prototype vibration sensing and display system, and experimentally demonstrate the utility of this type of tactile feedback. We also delineate the kinds of tasks where high-frequency vibratory feedback is important. In inspection and exploration tasks the detection of vibrations can be the fundamental goal of the task, while in some manipulation tasks vibrations can enhance performance by reducing reaction times or permitting minimization of ferees. Design guidelines for implementation of vibration displays, based on simple mechanical models, are also presented.