Development of Haptic Approaches for a Head-Controlled Soft Robotic Endoscope

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Abstract

Recent advances in soft robotics are utilized to solve challenges in endoscopy, such as maneuverability, flexibility, and the structural stiffness required to deliver enough force during endoscopic surgical procedure. Other major challenge is the lack of haptic feedback from the tool end-effector to the surgeon. Current clinical practice in minimally invasive intervention requires an assistant to control the camera since the surgeon is preoccupied with task at hand, creating a indirect control procedure for maneuvering the endoscope. For the soft robotic endoscope, we implemented a haptic feedback interface along with a novel control method to concurrently tackle these challenges. The user of the developed system can visualise the planned 2D insertion path and steer the endoscope module accordingly using an inertial measurement unit mounted on a head-band. Furthermore, five different haptic feedback methods (three kinesthetic and two vibrotactile) were compared in term of user accuracy while steering the endoscope along a planned path. The results show that the user's accuracy using kinesthetic and vibrotactile feedback were comparable, however, participants of this study find vibrotactile feedback approach more preferable for its intuitiveness and comfort.

Original languageEnglish
Title of host publication2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2020
Place of PublicationPiscataway, NJ
PublisherIEEE Computer Society Press
Pages1216-1222
Number of pages7
ISBN (Electronic)978-1-7281-5907-2
ISBN (Print)978-1-7281-5908-9
DOIs
Publication statusPublished - Nov 2020
Event8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2020 - Virtual Conference, New York City, United States
Duration: 29 Nov 20201 Dec 2020
Conference number: 8
https://biorob2020nyc.org/

Publication series

NameProceedings IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)
PublisherIEEE
Volume2020
ISSN (Print)2155-1774
ISSN (Electronic)2155-1782

Conference

Conference8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2020
Abbreviated titleBioRob 2020
CountryUnited States
CityNew York City
Period29/11/201/12/20
Internet address

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