Determination of a tactile feedback strategy for use in robotized percutaneous procedures

Remote manipulation in robotized percutaneous procedures can offer increased safety to radiologists as well as patients. Providing feedback to the radiologist on needle-tissue interactions is however mandatory in addition to the medical images. A tactile feedback strategy is developed in this paper. Two types of information are considered: tissue puncture and nature of tissues. A haptic device is developed for that purpose, using a tactile display to provide information. Adequate signals are identified experimentally, with analysis of reaction times and the ability to discriminate one information from the other.