Hi All,
My seminal references are:
On large internal organs manipulation:
R. Ohshima, T. Takayama, T. Omata, T. Ohya, K. Kojima, K. Takase, and N. Tanaka, "Assemblable three fingered five-DOF hand for laparoscopic surgery," in Proceedings - IEEE International Conference on Robotics and Automation, Pasadena, CA, 2008, pp. 3896-3901.
On instrumentation and haptic interfaces:
J. Rosen, B. Hannaford, M. P. MacFarlane, and M. N. Sinanan, "Force controlled and teleoperated endoscopic grasper for minimally invasive surgery--experimental performance evaluation," IEEE Trans Biomed Eng, vol. 46, pp. 1212-21, Oct 1999.
M. Tavakoli, R. V. Patel, and M. Moallem, "Haptic interaction in robot-assisted endoscopic surgery: a sensorized end-effector," The international journal of medical robotics + computer assisted surgery : MRCAS, vol. 1, pp. 53-63, 2005.
On Soft tissue grasping:
E. A. M. Heijnsdijk, H. DeVisser, J. Dankelman, and D. J. Gouma, "Slip and damage properties of jaws of laparoscopic graspers," Surgical Endoscopy and Other Interventional Techniques, vol. 18, pp. 974-979, 2004.
On large deformation modeling of soft tissue:
P. J. Davies, F. J. Carter, and A. Cuschieri, "Mathematical modelling for keyhole surgery simulations: A biomechanical model for spleen tissue," IMA Journal of Applied Mathematics (Institute of Mathematics and Its Applications), vol. 67, pp. 41-67, 2002.
I would gratefully appreciate any suggestion about my topic.
Thanks for the links. There are some interesting articles here that are helpful for me as well.
ReplyDeleteYou are welcome Devin!
ReplyDeletethanks Alireza..
ReplyDeleteill be putting some initial feelings together soon
Kanav
Alireza,
ReplyDeleteI recently came upon this article which attempts to motivate Haptic interfaces with some dramatic examples from individuals who lost proprioception and hence, much haptic perception. I think the author makes a logical error in his work: external, small cutaneous, external haptic forces do not contribute to the dramatic phenomena in the afflicted lives of G.L. and Mr. Waterman. However. However, in reference to your work, they potentially do make a significant difference. Dealing with large-organ force feedback relays key information to the internal proprioceptive sense, not just cutaneous haptics. As indicated in the pathological cases, lack of such data may significantly curb the possible dexterity of surgeons. While this probably adds not technical benefit to your work, it does significantly add to its motivation.
The Article:
Robles-De-La-Torre G. "The Importance of the Sense of Touch in Virtual and Real Environments". IEEE Multimedia 13(3), Special issue on Haptic User Interfaces for Multimedia Systems, pp. 24-30. (2006)
[http://www.roblesdelatorre.com/gabriel/GR-IEEE-MM-2006.pdf]
Without proprioception, here are some things that happened to the patients (presented in sequence, over time):
* Could not walk or stand upright
* Could move limbs, but could not control them in a precise way
* When not looking at limbs, did not know their location or if they were moving. Arms
(particularly fingers) moved uncontrollably. Sometimes arms would unwittingly hit own self.
* Using constant visual tracking, could eventually learn some control over muscles, but learning was very slow, difficult, and demanded inordinate attention
* Relearning to sit up took 2 months
* Relearning to stand took 1.5 years longer
* Relearning to walk took several additional months. However, he could only walk with slow,
somewhat awkward steps and only while looking at his feet.
* When visual information was suddenly removed, immediately fell to the floor (e.g., lights unexpectedly switched off)
* Decades later, still relies exclusively on vision for control. Controlled limb motions are still slow, ponderous, and hands are primarily restricted to only 3 fingers.
* Typically uses excessive force when holding objects, especially if not looking at them
Timothy
ReplyDeleteMany Thanks for your comments!