Deconstructing haptic feedback information in robot-assisted needle insertion in soft tissues - Inria - Institut national de recherche en sciences et technologies du numérique Accéder directement au contenu
Article Dans Une Revue IEEE Transactions on Haptics (ToH) Année : 2023

Deconstructing haptic feedback information in robot-assisted needle insertion in soft tissues

Résumé

This paper evaluates the role and effectiveness of different types of haptic feedback in presenting relevant feedback information during needle insertion in soft tissues through a remotely operated robot. We carried out three experiments with human subjects to analyze the effect of grounded kinesthetic feedback, cutaneous vibrotactile feedback, and cutaneous pressure feedback for rendering the elastic and the viscous force components of a simplified needle-tissue interaction model in a simulated environment. Results showed that providing the two pieces of feedback information through different channels, i.e., kinesthetic and cutaneous, led to the best performance, yielding an improvement in detecting a different tissue layer with respect to providing both information through the same commercial grounded kinesthetic interface. Moreover, results indicate that cutaneous pressure feedback is more suited for rendering the elastic component of the interaction with respect to vibrotactile cutaneous sensations. Finally, results suggest that rendering this elastic component where the user holds the input interface is not so important, confirming that delocalized cutaneous sensations can be an effective solution.
Fichier principal
Vignette du fichier
ToH23-ferro-deconstructing-lq.pdf (293.05 Ko) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)

Dates et versions

hal-04082247 , version 1 (26-04-2023)

Licence

Paternité

Identifiants

Citer

Marco Ferro, Claudio Pacchierotti, Sara Rossi, Marilena Vendittelli. Deconstructing haptic feedback information in robot-assisted needle insertion in soft tissues. IEEE Transactions on Haptics (ToH), 2023, 16 (4), pp.536-542. ⟨10.1109/TOH.2023.3271224⟩. ⟨hal-04082247⟩
81 Consultations
85 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More