Multi-silicone bilateral soft physical twin as an alternative to traditional user interfaces for remote palpation: a comparative study
Abstract Teleoperated medical technologies are a fundamental part of the healthcare system. From telemedicine to remote surgery, they allow remote diagnosis and treatment. However, the absence of any interface able to effectively reproduce the sense of touch and interaction with the patient prevents...
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| Format: | Article |
| Language: | English |
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Nature Portfolio
2023-12-01
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| Series: | Scientific Reports |
| Online Access: | https://doi.org/10.1038/s41598-023-50329-4 |
| _version_ | 1797371190807887872 |
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| author | Leone Costi Fumiya Iida |
| author_facet | Leone Costi Fumiya Iida |
| author_sort | Leone Costi |
| collection | DOAJ |
| description | Abstract Teleoperated medical technologies are a fundamental part of the healthcare system. From telemedicine to remote surgery, they allow remote diagnosis and treatment. However, the absence of any interface able to effectively reproduce the sense of touch and interaction with the patient prevents the implementation of teleoperated systems for primary care examinations, such as palpation. In this paper, we propose the first reported case of a soft robotic bilateral physical twin for remote palpation. By creating an entirely soft interface that can be used both to control the robot and receive feedback, the proposed device allows the user to achieve remote palpation by simply palpating the soft physical twin. This is achieved through a compact design showcasing 9 pneumatic chambers and exploiting multi-silicone casting to minimize cross-noise and allow teleoperation. A comparative study has been run against a traditional setup, and both the control and feedback of the physical twin are carefully analyzed. Despite distributed tactile feedback not achieving the same performance as the visual map, the soft control and visual feedback combination showcases a 5.1% higher accuracy. Moreover, the bilateral soft physical twin results always in a less invasive procedure, with 41% lower mechanical work exchanged with the remote phantom. |
| first_indexed | 2024-03-08T18:15:17Z |
| format | Article |
| id | doaj.art-19491fd47cf64ea7bc6d3ba5806dd196 |
| institution | Directory Open Access Journal |
| issn | 2045-2322 |
| language | English |
| last_indexed | 2024-03-08T18:15:17Z |
| publishDate | 2023-12-01 |
| publisher | Nature Portfolio |
| record_format | Article |
| series | Scientific Reports |
| spelling | doaj.art-19491fd47cf64ea7bc6d3ba5806dd1962023-12-31T12:09:34ZengNature PortfolioScientific Reports2045-23222023-12-0113111510.1038/s41598-023-50329-4Multi-silicone bilateral soft physical twin as an alternative to traditional user interfaces for remote palpation: a comparative studyLeone Costi0Fumiya Iida1Bio Inspired Robotics Laboratory, Department of Engineering, University of CambridgeBio Inspired Robotics Laboratory, Department of Engineering, University of CambridgeAbstract Teleoperated medical technologies are a fundamental part of the healthcare system. From telemedicine to remote surgery, they allow remote diagnosis and treatment. However, the absence of any interface able to effectively reproduce the sense of touch and interaction with the patient prevents the implementation of teleoperated systems for primary care examinations, such as palpation. In this paper, we propose the first reported case of a soft robotic bilateral physical twin for remote palpation. By creating an entirely soft interface that can be used both to control the robot and receive feedback, the proposed device allows the user to achieve remote palpation by simply palpating the soft physical twin. This is achieved through a compact design showcasing 9 pneumatic chambers and exploiting multi-silicone casting to minimize cross-noise and allow teleoperation. A comparative study has been run against a traditional setup, and both the control and feedback of the physical twin are carefully analyzed. Despite distributed tactile feedback not achieving the same performance as the visual map, the soft control and visual feedback combination showcases a 5.1% higher accuracy. Moreover, the bilateral soft physical twin results always in a less invasive procedure, with 41% lower mechanical work exchanged with the remote phantom.https://doi.org/10.1038/s41598-023-50329-4 |
| spellingShingle | Leone Costi Fumiya Iida Multi-silicone bilateral soft physical twin as an alternative to traditional user interfaces for remote palpation: a comparative study Scientific Reports |
| title | Multi-silicone bilateral soft physical twin as an alternative to traditional user interfaces for remote palpation: a comparative study |
| title_full | Multi-silicone bilateral soft physical twin as an alternative to traditional user interfaces for remote palpation: a comparative study |
| title_fullStr | Multi-silicone bilateral soft physical twin as an alternative to traditional user interfaces for remote palpation: a comparative study |
| title_full_unstemmed | Multi-silicone bilateral soft physical twin as an alternative to traditional user interfaces for remote palpation: a comparative study |
| title_short | Multi-silicone bilateral soft physical twin as an alternative to traditional user interfaces for remote palpation: a comparative study |
| title_sort | multi silicone bilateral soft physical twin as an alternative to traditional user interfaces for remote palpation a comparative study |
| url | https://doi.org/10.1038/s41598-023-50329-4 |
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