Biomedical Engineering Reference
In-Depth Information
Nowadays, high-speed data transmission links, such as Internet 2, make the teletaction
process possible over long-distance telemanipulation processes, even for those with more
than one manipulator [107].
10.7 Applications of Teletaction
Artificial stimulation may be used for creation and manipulation of virtual objects, and
for the enhancement of the remote control of machines and devices. It has been described
as 'doing for the sense of touch what computer graphics does for vision' [108].
Some of the many domains to which teletaction can be applied are as follows:
1. minimally invasive surgery (MIS) and minimally invasive robotic surgery (MIRS)
2. teleoperation and telepresence;
3. laboratory prototypes to study the different tactile parameters;
4. sensory substitution;
5. 3D surface generation;
6. Braille systems;
7. entertainment industries.
Since MIS and MIRS is the focus of this topic, these applications are elaborated below.
10.8 Minimally Invasive and Robotic Surgery (MIS and MIRS)
MIS has revolutionized many surgical procedures over the last few decades. Early MIS,
known as keyhole surgery, was performed using a small video camera, a video display, and
a few customized surgical tools. Nowadays, much attention is given to tactile sensing in
MIS. In procedures such as gall bladder removal (laparoscopic cholecystectomy), surgeons
insert a camera and long slender tools into the abdomen through small skin incisions to
explore the internal cavity and manipulate organs from outside the body as they view their
actions on a video display. Because the development of minimally invasive techniques
has reduced the sense of touch compared to open surgery, surgeons must rely more on
the feeling of net forces resulting from tool - tissue interactions and so need more training
to successfully operate on patients. Although tissue color and texture convey important
anatomical information visually, touch is still critical in identifying otherwise obscure
tissue planes, blood vessels, and abnormal tissues, and gauging optimal forces to be
applied for tissue manipulation.
However, MIS still involves humans in the feedback loop and hence does not cover
all needs for performing intelligent robotic manipulation. Outside the laboratory, manip-
ulation is still primarily performed without tactile sensing. In an industrial setting, most
variables can be controlled. Even though force/torque sensors are used for grinding oper-
ations and for peg-in-hole tasks, the really large benefits with a refined tactile sense can
be reaped outside such well-controlled environments.
For a versatile robot in an uncertain environment, tactile sensing will open up new
possibilities. Much of the art of MIS and training for a particular procedure depend upon
the education and refinement of the trainee's haptic sensorimotor system. The benefits of
using haptic devices in medical training through simulation [73, 109 - 114] have already
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