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Related Experiment Video

Updated: Aug 1, 2025

Rod-based Fabrication of Customizable Soft Robotic Pneumatic Gripper Devices for Delicate Tissue Manipulation
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Deconstructing Haptic Feedback Information in Robot-Assisted Needle Insertion in Soft Tissues.

Marco Ferro, Claudio Pacchierotti, Sara Rossi

    IEEE Transactions on Haptics
    |April 28, 2023
    PubMed
    Summary

    Combining different haptic feedback types, like kinesthetic and cutaneous, significantly improves robotic needle insertion performance. This approach enhances tissue layer detection compared to single-channel feedback.

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    Area of Science:

    • Robotics
    • Haptics
    • Medical Simulation

    Background:

    • Robotic surgery requires effective sensory feedback for precise control.
    • Needle insertion in soft tissues presents challenges in force perception.

    Purpose of the Study:

    • To evaluate different haptic feedback types for robotic needle insertion.
    • To determine the optimal rendering of elastic and viscous forces in needle-tissue interaction.

    Main Methods:

    • Three experiments with human subjects were conducted.
    • Grounded kinesthetic, cutaneous vibrotactile, and cutaneous pressure feedback were tested.
    • A simplified needle-tissue interaction model was used in a simulated environment.

    Main Results:

    • Multi-channel feedback (kinesthetic and cutaneous) improved tissue layer detection.
    • Cutaneous pressure feedback was superior to vibrotactile feedback for elastic force rendering.
    • Delocalized cutaneous sensations were effective, reducing the importance of localized elastic feedback.

    Conclusions:

    • Integrating kinesthetic and cutaneous haptic feedback enhances robotic needle insertion.
    • Cutaneous pressure feedback is recommended for rendering elastic forces.
    • Effective haptic feedback can be achieved through delocalized cutaneous sensations.