Abstract
This chapter presents the very first application of the cutaneous-only sensory subtraction approach in teleoperation. It considers a simulated needle insertion in soft tissue along one direction. Part of the needle workspace is protected by a forbidden-region stiff active constraint, which is a common scenario for biopsies, deep brain stimulation and functional neurosurgery. Subjects are required to insert the needle inside the simulated soft tissue and stop the motion of the tool as soon as the presence of the stiff constraint is felt. The motion of the needle is controlled through an Omega 3 haptic interface. Accordingly to the sensory subtraction approach, the haptic feedback provided by the Omega 3 is substituted with cutaneous feedback provided by a pair of ungrounded fingertip cutaneous devices. Experiments show that the proposed cutaneous-only feedback approach, other than being intrinsically stable, improves teleoperation performance with respect to other sensory substitution techniques, such as the one using visual feedback in substitution of haptic feedback.
This chapter is reprinted with kind permission from IEEE, originally published in [2].
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A modification of the way the fingers grasp the handle would imply that the perceived direction of the feedback force changes if haptic feedback is used, whereas it would not change with cutaneous-only feedback. This issue must be considered while trying to extend the sensory subtraction paradigm to multi-DoF tasks, since the results may be affected by this change of direction of the force vector. Thus, the position of the subject’s hand with respect to the input device must be carefully monitored before and during the experiments.
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Pacchierotti, C. (2016). Needle Insertion in Simulated Soft Tissue. In: Cutaneous Haptic Feedback in Robotic Teleoperation. Springer Series on Touch and Haptic Systems. Springer, Cham. https://doi.org/10.1007/978-3-319-25457-9_2
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