Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA.
Int J Med Robot. 2012 Mar;8(1):45-56. doi: 10.1002/rcs.421. Epub 2011 Nov 8.
Current teleoperated robot-assisted minimally invasive surgical systems do not take full advantage of the potential performance enhancements offered by various forms of haptic feedback to the surgeon. Direct and graphical haptic feedback systems can be integrated with vision and robot control systems in order to provide haptic feedback to improve safety and tissue mechanical property identification.
An interoperable interface for teleoperated robot-assisted minimally invasive surgery was developed to provide haptic feedback and augmented visual feedback using three-dimensional (3D) graphical overlays. The software framework consists of control and command software, robot plug-ins, image processing plug-ins and 3D surface reconstructions.
The feasibility of the interface was demonstrated in two tasks performed with artificial tissue: palpation to detect hard lumps and surface tracing, using vision-based forbidden-region virtual fixtures to prevent the patient-side manipulator from entering unwanted regions of the workspace.
The interoperable interface enables fast development and successful implementation of effective haptic feedback methods in teleoperation.
当前的远程操作机器人辅助微创手术系统并没有充分利用各种形式的触觉反馈为外科医生提供的潜在性能提升。直接和图形触觉反馈系统可以与视觉和机器人控制系统集成，以提供触觉反馈，从而提高安全性和组织力学特性识别。
开发了一种用于远程操作机器人辅助微创手术的可互操作接口，以提供触觉反馈和使用三维（3D）图形覆盖的增强视觉反馈。软件框架由控制和命令软件、机器人插件、图像处理插件和 3D 曲面重建组成。
该接口在使用人工组织进行的两项任务中的可行性得到了证明：触诊以检测硬块和表面追踪，使用基于视觉的禁止区域虚拟夹具防止患者侧操纵器进入工作空间的不希望进入的区域。
可互操作的接口使快速开发和成功实施有效的触觉反馈方法在远程操作中成为可能。
