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[144] Citation: J. Longnion, J. Rosen, M. Sinanan, B. Hannaford,
'Effects of Geared Motor Characteristics on Tactile Perception of TissueStiffness,'
Studies in Health Technology and Informatics - Medicine Meets Virtual Reality, vol. 81, pp. 286-292, Newport Beach, CA, January 2001.
Abstract
Endoscopic haptic surgical devices have shown promise in addressing the lossof tactile sensation associated with minimally invasive surgery. However, these
devices
must be capable of generating forces and torques similar to those applied on thetissue
with a standard endoscopic tool. Geared motors are a possible solution foractuation;
however, they possess mechanical characteristics that could potentially
interfere with
tactile perception of tissue qualities. The aim of the current research was todetermine
how the characteristics of a geared motor suitable for a haptic surgical deviceaffect
a user's perception of stiffness. The experiment involved six blindfoldedsubjects
who were asked to discriminate the stiffness of six distinct silicone rubbersamples
whose mechanical properties are similar to those of soft tissue. Using a noveltesting
device whose dimensions approximated those of an endoscopic grasper, eachsubject
palpated 30 permutations of sample pairs for each of three types of mechanicalloads;
the motor (friction and inertia), a flywheel (with the same inertia as motor),and a
control (no significant mechanical interference). One fator ANOVA of the errorscores
and palpation time showed that no significant difference existed among errorscores, but
mean palpation time for the control was significantly less than for the othertwo methods.
These results indicated that the mechanical characteristics of a geared motorchosen for
application in a haptic surgical device did not interfere with the subjects'perception of
the silicone samples' stiffness, but these characteristics may signficantlyaffect the
energy expenditure and time required for tissue palpation. Therefore, beforegeared
motors can be considered for use in haptic surgical devices, considerationshould be
given to factors such as palpation speed and fatigue.
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