Tactile Sensing and Displays Haptic Feedback for Minimally Invasive Surgery and Robotics

Javad Dargahi, Associate Professor, Department of Mechanical & Industrial Engineering, Concordia University, Canada
Dr. Dargahi received his PhD from Glasgow Caledonian University, Glasgow, in the area of "Robotic Tactile Sensing", in 1993. He joined Concordia University, as an Assistant Professor in the Department of Mechanical and Industrial Engineering, in September 2001. He received his tenure and was promoted to associate professor in June 2006. His research areas include: Design and fabrication of haptic sensors and feedback systems for minimally invasive surgery and robotics, micromachined sensors and actuators and teletaction. Dr. Dargahi has published 65 journal and 65 refereed conference papers.

Saeed Sokhanvar, Senior Project Engineer, Helbling Precision Engineering, USA
Saeed Sokhanvar is Senior Project Engineer at Helbling Precision Engineering, Cambridge, MA. Before this he was a PostDoctoral Fellow at MIT. He has received many academic awards and co-authored multiple articles in refereed journals and conference proceedings.

Siamak Najarian, Professor, Biomedical Engineering, Amirkabir University of Technology, Iran
Prof. S. Najarian is Full-Professor of Biomedical Engineering at Amirkabir University of Technology. He completed his PhD in Biomedical Engineering at Oxford University, and had a post-doctoral position at the same university for one year. His research interests are the applications of artificial tactile sensing (especially in robotic surgery), mechatronics in biological systems, and design of artificial organs. He is the author and translator of 26 books in the field of biomedical engineering, 9 of which are written in English. Prof. Najarian has published more than 170 international journal and conference papers in the field of biomedical engineering along with two international books in the same field.

Preface

About the Authors

Chapter 1

1 Introduction to Tactile Sensing and Display

1.1 Background 3

1.2 Conventional and Modern Surgical Techniques

1.3 Motivation

1.4 Tactile Sensing

1.5 Force Sensing
 
1.6 Force Position
 
1.7 Softness Sensing
 
1.8 Lump Detection
 
1.9 Tactile Sensing in Human
 
1.10 Haptic Sense

1.10.1 Mechanoreception

1.10.2 Proprioceptive Sense

1.11 Tactile Display Requirements

1.12 Minimally Invasive Surgery (MIS)

1.12.1 Advantages/Disadvantages of MIS

1.13 Robotics

1.13.1 Robotic Surgery

1.14 Applications

Chapter 2

2 Tactile Sensing Technologies
 
2.1 Introduction

2.2 Capacitive Sensors
 
2.3 Conductive Elastomer Sensors

2.4 Magnetic Bases Sensors
 
2.5 Optical Sensors

2.6 MEMS Base Sensors

2.7 Piezoresistive Sensors

2.7.1 Conductive elastomers, Carbon Felt and Carbon Fibers

2.8 Piezoelectric Sensors

Chapter 3

3 Piezoelectric Polymers: PVDF Fundamentals

3.1 Constitutive Equations of Crystals

3.2 Fundamentals of PVDF

3.3 Mechanical Characterization of Piezoelectric
Polyvinylidene Fluoride Films: Uniaxial and Biaxial
 
3.3.1 The Piezoelectric Properties of the Uniaxial and Biaxial PVDF Films
 
3.4 Measurement of and  

Chapter 4

4 Design, Analysis, Fabrication, and Testing of Tactile Sensors

4.1 Endoscopic Force Sensor: Sensor Design

4.1.1 Modeling

4.1.2 Sensor Fabrication

4.1.3 Experimental Analysis

4.2 Multifunctional MEMS-Based Tactile Sensor: Design, Analysis, Fabrication and Testing

4.2.1 Sensor Design

4.2.2 Finite Element Modeling

4.2.3 Sensor Fabrication

4.2.4 Sensor Assembly
 
4.2.5 Testing & Validation: Softness Characterization

Chapter 5

5 Bulk Softness Measurement Using a Smart Endoscopic Grasper

5.1 Introduction

5.2 Problem Definition

5.3 Method

5.4 Energy and Steepness
 
5.5 Calibrating the Grasper

5.6 Results and Discussion

Chapter 6

6 Lump Detection

6.1 Introduction

6.2 Constitutive Equations for Hyperelasticity

6.3 Finite Element Modeling

6.4 The Parametric Study

6.4.1The Effect of Lump Size

6.4.2 The Effect of Depth

6.4.3 The Effect of Applied Load

6.4.4 The Effect of Lump Stiffness

Experimental Validation

Discussion and Conclusions

Chapter 7

7 Tactile Display Technology

7.1 The Coupled Nature of the Kinesthetic and Tactile Feedback

7.2 Force Feedback Devices

7.3 A Review of Recent and Advanced Tactile Displays

7.3.1 Electrostatic Tactile Displays for Roughness
 
7.3.2 Rheological Tactile Displays for Softness

7.3.3 Electromagnetic Tactile Displays: (Shape Display)

7.3.4 Shape Memory Alloys (SMA) Tactile Display (Shape)

7.3.5 Piezoelectric Tactile Display (Lateral Skin Stretch)

7.3.6 Air Jet Tactile Displays (Surface Indentation)

7.3.7 Thermal Tactile Displays

7.3.8 Pneumatic Tactile Displays (Shape)

7.3.9 Electrocutaneous Tactile Displays
 
7.3.10 Other Tactile Display Technologies

Chapter 8

8 Grayscale Graphical Softness Tactile  Display

8.1 Introduction

8.2 Graphical Softness Display

8.2.1 Feedback System

8.2.2 Sensor

8.2.3 Data Acquisition System

8.2.4 Signal Processing

8.2.5 Results and Discussion

8.3 Graphical Representation of a Lump

8.3.1 Sensor Structure

8.3.2 Rendering Algorithm

8.3.2.1 Graphical Representation of Localized Lumps in One Dimension

8.3.2.2 Graphical Representation of Localized Lumps in Two Dimensions

8.3.3 Experiments

8.3.4 Results and Discussion

8.4 Summary and Conclusions

Chapter 9

9 Minimally Invasive Robotic Surgery

9.1 Robotic System for Endoscopic Heart Surgery

9.2 da Vinci and Amadeus Composer Robot Surgical System

9.3 Advantages and Disadvantages of Robotic Surgery
9.4 Applications

9.4.1 Practical Applications of Robotic Surgery Today

9.5 The Future of Robotic Surgery

Chapter 10

10 Teletaction

10.1 Psychophysics for Teletaction

10.1.1 Haptic Object Recognition

10.1.2 Identification of spatial properties

10.1.3 Perception of Texture

10.1.4 Control of Haptic Interfaces

10.2 Basic issues and limitations of Teletaction systems

10.3 Applications of Teletaction

10.4 Minimally Invasive and robotic Surgery (MIS & MIRS)

Chapter 11

11 Teletaction Using a Linear Actuator Feedback Based Tactile Display

11.1 System Design

11.2 Tactile Actuator

11.3 Force Sensor

11.4 Shaft Position Sensor

11.5 Stress-Strain Curves

11.6 Data Acquisition Card

11.7 PID Controller

11.7.1 Linear Actuator Model

11.7.2 Verifying the Identification Results

Chapter 12

12 Clinical and Regulatory Challenges for Medical Devices

12.1 Clinical Issues

12.2 Regulatory Issues

12.2.1 Medical Product Jurisdiction
 
12.2.2 Types of Medical Devices

12.2.3 Medical Device Classification

12.2.4 Determining Device Classification

12.3 Medical Device Approval Process

12.3.1 Design Controls

12.3.2 The 510 (K) Premarket Notifications

12.3.3 The Premarket Approval Application

12.3.3.1 The PMA Process

12.3.4 The Quality System Regulation

12.4 FDA Clearance of Robotic Surgery Systems

Index

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