Effects of Geared Motor Characteristics on Tactile Perception of TissueStiffness

Longnion, J. and Rosen, J. and Sinanan, M. and Hannaford, B. (2001) Effects of Geared Motor Characteristics on Tactile Perception of TissueStiffness. Studies in Health Technology and Informatics - Medicine Meets Virtual Reality, 81. pp. 286-292.

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Endoscopic haptic surgical devices have shown promise in addressing the lossof tactile sensation associated with minimally invasive surgery. However, thesedevices 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.

Item Type: Article
Subjects: D Haptics
Divisions: Department of Electrical Engineering
Depositing User: Nava Aghdasi
Date Deposited: 12 Aug 2015 20:16
Last Modified: 12 Aug 2015 20:16
URI: http://brl.ee.washington.edu/eprints/id/eprint/253

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