Research‎ > ‎

Haptics in teleoperation

The da Vinci Surgical system (Intuitive Surgical Inc.), a teleoperated robot-assisted minimally invasive surgery system, has become a popular approach for many operations. Although it has the benefits of increased dexterity and enhanced control for the surgeon, one limitation is the lack of haptic feedback. Haptic virtual fixtures impose software-generated force constraints that can help guide a user through a path-specified task and/or prevent the user from entering a designated forbidden region in the workspace.

In this work, we studied virtual fixtures that provided moving force constraints based on motion of the environment (e.g., organ movement due to heartbeat or respiration). Two different designs of moving forbidden-region virtual fixtures were considered. A human subject study was conducted to determine the effectiveness of moving virtual fixtures during interaction with an object in motion using teleoperated Phantom Premiums (SensAble Technologies, Inc.). The moving virtual fixtures showed benefits of improved user precision and decreased force applied.

Moving virtual fixture experiment


T. L. Gibo, L. Verner, D. Yuh, and A. M. Okamura.
Design considerations and human-machine performance of moving virtual fixtures.
Proc. of IEEE International Conference on Robotics and Automation (ICRA), pp. 671-676, 2009.