Haptic Noise Cancellation: Restoring Force Perception in Robotically-Assisted Beating Heart Surgery

DSpace/Manakin Repository

Haptic Noise Cancellation: Restoring Force Perception in Robotically-Assisted Beating Heart Surgery

Show simple item record

dc.contributor.author Yuen, Shelten G.
dc.contributor.author Dubec, Karl-Alexander
dc.contributor.author Howe, Robert D.
dc.date.accessioned 2010-10-13T20:50:25Z
dc.date.issued 2010
dc.identifier.citation Yuen, Shelten G., Karl-Alexander Dubec, Robert D. Howe. 2010. Haptic noise cancellation: Restoring force perception in robotically-assisted beating heart surgery. Paper presented at the IEEE Haptics Symposium, Waltham, MA, March 25-26, 2010. en_US
dc.identifier.uri http://nrs.harvard.edu/urn-3:HUL.InstRepos:4481410
dc.description.abstract Beating heart surgical methods have the potential to remove the need for the heart-lung machine and its attendant side effects, but must contend with the motion of the heart. Recent research in robotically-assisted surgery has produced a handheld, actuated in- strument that can track and compensate for heart motion; however, the reaction forces caused by the actuation mechanism make it dif- ficult for the surgeon to feel the heart during the operation, which can lead to unsafe tissue manipulation. This paper investigates an instrument design that negates reaction forces to the user by moving a counterweight out of phase with the moving mass of the actuator. The resulting instrument retains the tracking and motion compensa- tion abilities of the current instrument, but reduces reaction forces felt by the user by over 80%. Subjects used the new instrument in an in vitro beating heart surgical contact task and performance was compared to the previously existing instrument. The new in- strument provided a 28% increase in user force sensitivity and im- proved user reaction times by 51%, indicating that the new instru- ment greatly enhances force perception in beating heart tasks. en_US
dc.description.sponsorship Engineering and Applied Sciences en_US
dc.language.iso en_US en_US
dc.publisher Institute of Electrical and Electronics Engineers en_US
dc.relation.isversionof http://www.hapticssymposium.org/next_conference.html en_US
dash.license OAP
dc.subject beating heart surgery en_US
dc.subject motion compensation en_US
dc.subject surgical robotics en_US
dc.subject force perception en_US
dc.title Haptic Noise Cancellation: Restoring Force Perception in Robotically-Assisted Beating Heart Surgery en_US
dc.type Conference Paper en_US
dc.description.version Accepted Manuscript en_US
dc.relation.journal IEEE Haptics Symposium en_US
dash.depositing.author Howe, Robert D.
dc.date.available 2010-10-13T20:50:25Z

Files in this item

Files Size Format View
Howe_RestoringForcePerception.pdf 395.0Kb PDF View/Open

This item appears in the following Collection(s)

  • FAS Scholarly Articles [6948]
    Peer reviewed scholarly articles from the Faculty of Arts and Sciences of Harvard University

Show simple item record

 
 

Search DASH


Advanced Search
 
 

Submitters