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A Lightweight and Affordable Wearable Haptic Controller for Robot-Assisted Microsurgery.

Xiaoqing Guo1, Finn McFall1, Peiyang Jiang1

  • 1Department of Engineering Mathematics, University of Bristol, Bristol BS8 1QU, UK.

Sensors (Basel, Switzerland)
|May 11, 2024
PubMed
Summary

This study introduces a low-cost, wearable haptic controller for robot-assisted microsurgery (RAMS). Haptic feedback significantly improves surgeon

Keywords:
haptic feedbackrobot-assisted microsurgeryteleoperation

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Area of Science:

  • Robotics and Automation
  • Biomedical Engineering
  • Surgical Technology

Background:

  • Surgeons in robot-assisted microsurgery (RAMS) lack crucial haptic feedback.
  • Existing desktop haptic devices have limitations in operational area and dexterity.
  • Need for improved sensory feedback in teleoperated microsurgical systems.

Purpose of the Study:

  • To develop a novel, lightweight, and affordable wearable haptic controller for RAMS.
  • To integrate the controller with a motion tracking system for enhanced remote surgery.
  • To evaluate the effectiveness of haptic feedback in improving operator performance.

Main Methods:

  • Designed and fabricated a wearable haptic interface using PolyJet Photopolymer and hybrid 3D co-printing.
  • Integrated the interface with marker-based and marker-less motion tracking systems.
  • Compared motion tracking methods and sensor fusion algorithms (unscented Kalman filter) for accuracy.
  • Conducted user studies to assess the impact of haptic feedback on depth perception.

Main Results:

  • The wearable haptic controller is lightweight, low-budget, and mimics soft tissue for direct feedback.
  • Marker-based motion tracking demonstrated high detection rates within a 4-8 cm range.
  • The unscented Kalman filter proved to be the most accurate sensor fusion algorithm.
  • User studies confirmed that haptic feedback significantly enhances depth perception in teleoperated RAMS.

Conclusions:

  • A novel wearable haptic controller offers a practical solution for enhancing feedback in RAMS.
  • The developed system, integrating advanced motion tracking, improves surgical precision.
  • Haptic feedback is vital for improving operator's spatial awareness and performance in microsurgery.