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Perception and Action in Teleoperated Needle Insertion.

I Nisky, A Pressman, C M Pugh

    IEEE Transactions on Haptics
    |September 18, 2015
    PubMed
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    Delay in teleoperated needle insertion causes motor underestimation of soft tissue stiffness, but not perceptual changes. Adjusting teleoperation gain can eliminate motor effects without perceptual distortion, enabling transparency.

    Area of Science:

    • Robotics
    • Human-Computer Interaction
    • Biomechanics

    Background:

    • Teleoperation systems are susceptible to latency, impacting user performance.
    • Accurate force feedback is crucial for tasks involving physical interaction, like needle insertion.
    • Understanding the effects of delay on motor control and perception is vital for designing effective telerobotic systems.

    Purpose of the Study:

    • To investigate the impact of time delay on motor control and perception during simulated needle insertion into nonlinear soft tissue.
    • To determine if perceptual and motor transparency can be achieved in a virtual teleoperation task.

    Main Methods:

    • Experimental study using a force field emulating elastic soft tissue with a rigid nonlinear boundary.
    • Simulation of a simplified mechanical model of the arm and neural controller.

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  • Development of a perception model based on force-position space regression.

    • Main Results:

    • Time delay led to motor underestimation of tissue stiffness, with no significant perceptual change.
    • Simulation results supported the experimental findings.
    • Modifying teleoperation gain compensated for the motor effects of delay without introducing perceptual distortion.

    Conclusions:

    • It is possible to achieve both perceptual and motor transparency in a virtual one-dimensional remote needle insertion task.
    • Gain adjustment in teleoperation channels can mitigate the motor consequences of delay.
    • Further research can explore more complex haptic feedback mechanisms for telerobotic surgery.