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Related Concept Videos

Torque Free Motion01:15

Torque Free Motion

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The torque-free motion refers to the movement of a rigid body in space when no external torques are acting upon it. This type of motion can be observed in environments where there are no external forces or frictions, like in outer space. For example, a rotation of Mars in space is a torque-free motion. Mars is an axisymmetric object, meaning it has an axis of symmetry along which it rotates, designated as the z-axis. The rotating frame of reference is defined such that the center of mass of...
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Tool Contact Acceleration Feedback for Telerobotic Surgery.

W McMahan, J Gewirtz, D Standish

    IEEE Transactions on Haptics
    |March 11, 2016
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    Surgeons prefer added sensory feedback for telerobotic surgery systems. VerroTouch provides auditory and vibrotactile cues, enhancing surgeon connection and awareness during procedures.

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    Area of Science:

    • Robotics
    • Surgical Technology
    • Human-Computer Interaction

    Background:

    • Minimally invasive surgery utilizes telerobotic systems for complex procedures.
    • Current systems lack tactile and auditory sensory feedback beyond vision.
    • This limits the surgeon's perception of tool-tissue interactions.

    Purpose of the Study:

    • To develop and evaluate VerroTouch, a device augmenting the da Vinci S Surgical System.
    • To provide auditory and vibrotactile feedback of tool contact accelerations.
    • To assess the impact of this feedback on surgeon experience and performance.

    Main Methods:

    • VerroTouch was integrated with the da Vinci S Surgical System.
    • Eleven surgeons performed in vitro tasks under four feedback conditions (none, audio, haptic, both).
    • Surgeon preferences and task performance metrics were collected.

    Main Results:

    • Surgeons showed a significant preference for including tool contact acceleration feedback.
    • No consensus was reached on the optimal sensory modality (audio vs. haptic).
    • Feedback did not significantly alter quantitative task performance metrics.
    • Qualitative feedback suggested improved concentration and situational awareness.

    Conclusions:

    • Auditory and vibrotactile feedback of tool contact accelerations are valuable additions to telerobotic surgery.
    • Enhanced sensory feedback may improve surgeon's connection to instruments and situational awareness.
    • Further research is needed to optimize sensory modality and integration for surgical tasks.