Current technology of minimally invasive surgery deprives the surgeon almost completely of the perception of rheological properties of manipulated tissues. As a first attempt to solve this problem, we realized a sensorized surgical tool, whose visual display was however not completely satisfactory. We present a preliminary realization of a tactile display returning the kinesthetic tactile sensation of the stiffness and damping of manipulated tissues. We also discuss identification algorithms of the model of the manipulated materials for detecting their properties and for replicating their dynamic behavior through the tactile display.
Haptic display for replication of rheological behaviour of surgical tissues: modelling, control, and experiments
SCILINGO, ENZO PASQUALE;DE ROSSI, DANILO EMILIO;BICCHI, ANTONIO;IACCONI, PIETRO
1997-01-01
Abstract
Current technology of minimally invasive surgery deprives the surgeon almost completely of the perception of rheological properties of manipulated tissues. As a first attempt to solve this problem, we realized a sensorized surgical tool, whose visual display was however not completely satisfactory. We present a preliminary realization of a tactile display returning the kinesthetic tactile sensation of the stiffness and damping of manipulated tissues. We also discuss identification algorithms of the model of the manipulated materials for detecting their properties and for replicating their dynamic behavior through the tactile display.File in questo prodotto:
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