Haptic feedback

The term haptic comes from the Greek verb dljtxeaGai (haptesthai), which means to touch. It refers to tactile interaction and can be extended to include the perception of objects and the self in space. As a perceptual system, haptics relies on the person s cutaneous and kinesthetic subsystems [55]  

By merging information acquired from these two subsystems, the human brain can reconstruct more complex data, such as weight and inertial characteristics, or the shape of objects. This capability has fundamental importance in everyday life [56] and, thus, also for surgical procedures [57]. 

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The applications discussed above address the interaction between humans and biomedical products that embed or employ computers. However, as HCI technology develops to address new paradigms, new modes of interaction, such as haptic feedback, gestural, and speech interfaces will increasingly involve biomedical factors. 

A VR system needs to be composed of three components hardware, software, and applications (Blach 2008). The hardware used in VR application can be roughly divided into visual displays, tracking devices, auditory feedback, and haptic feedback. The software part is often a combination of data produced within the product development process, for example, CAD files, and software used to link the different inputs from the user to the output possibilities of the VR system (Miedema 2010). 

Contrasting tactile versus haptic feedback The wheel on top of the undercarriage lever would provide tactile feedback, whereas a stick shaker would provide haptic feedback. 

Force and haptic feedback is often important for surgical simulation - and telesurgery applications. - - - Again, the technical issues involved are similar to those for other virtual reality and telerobotics applications, with the added requirement of maintaining sterility and electrical safety. 

Fig. 9.13. Stereo viewing and manipulation with haptic feedback...

Lemole GMJ, Banerjee PP, Luciano C, Neckrysh S, and Charbel FT, Virtual reality in neurosurgical education Part-task ventriculostomy simulation with dynamic visual and haptic feedback. Neurosurgery, vol. 61 1, pp. 142-149,2007. 

Sall4 D., Gosselin, R, Bidaud, R, and Gravez, R, Analysis of haptic feedback performances in telesurgery robotic systems, Proc. IEEE Int. Workshop on Robot and Human Communication, pp. 618-623, 2001. 

A. M. Okamura, "Methods for haptic feedback in teleoperated robot-assisted surgery," Ind. Rob., 31(6) 499-508, December 2004. 

Aside from aesthetic surgery benefits and reduced risk of infection, these barbed sutures may help suturing in procedures with lack of haptic feedback, such as robotic and laparoscopic surgery, while reducing tissue recoil and giving more watertight closures. 

NeuroArm [32], an MR-compatible telesurgical system for neurosurgery (Figure 5.8), was developed by the University of Calgary and MacDonald Dettwiler and Associates Ltd. The system consists of two serial robotic arms with 6 DOFs whose end-effectors are designed to be mounted by standard neurosurgical instmments. Each arm is equipped with a 3-DOF optical force sensor for haptic feedback. The system can be used for both stereotaxy and microsurgery. 

Shown in Figure 5.19, our MR-compatible bone biopsy robot has two modes of operation tele-operative and autonomous. The system has 5 DOFs (linear, turret, elbow roU, wrist pitch, and penetration) in addition to the drilling joint. The tool is equipped with force sensors to send drilling forces as haptic feedback to the operator. The system allows the surgeon to tele-operatively control the drilling process during the bone biopsy procedure by means of force and vision feedbacks. 

Vapenstad C, Hofitad EF, Bo LE, et al. Limitations of haptic feedback devices on construct validity of the LapSim virtual reality simulator. Surg Endosc 2013 27(4) 1386-96. 

Vapenstad C, et al. Perceiving haptic feedback in virtual reality simulators. Surg Endosc 2013 27(7) 2391-7. 

Tactile sensation is an important cue for us to find a subtle difference in handling objects. For a robotic telemanipulation surgery, tactile displays, which produce virtual cutaneous sensation on human hands, provide haptic feedback to the operators for finding diseases carefully and manipulating tools dexterously. For virtual reahty apphcations in medicine, such as rehabilitation and psychotherapy, a tactile display can also contribute to human emotional responses because tactile sensation is highly related to both our comfort and wonder. Many researchers have developed tactile displays and haptic interfaces, as reported by Benali-Khoudja [1] and Hayward [2]. However, it is difficult for conventional tactile displays to synthesize rich and complex tactile sensation arbitrarily. 

Sensors and actuators can be used for the detection and signalling (light, sound, haptic feedback) of threats such as bombs, improvised explosive devices (lEDs), mortars, toxic gases or even unexpected attacks from enemies (Chapman, 2012). The sensors and actuators can be integrated into military uniforms, accessories or vehicles and linked to the warning systems. 

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