A Novel Untethered Hand Wearable with Fine-Grained Cutaneous Haptic Feedback
During open surgery, a surgeon relies not only on the detailed view of the organ being operated upon and on being able to feel the fine details of this organ but also heavily relies on the combination of these two senses. In laparoscopic surgery, haptic feedback provides surgeons information on inte...
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-03-01
|
| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/22/5/1924 |
| _version_ | 1797473753180930048 |
|---|---|
| author | Alexander Co Abad David Reid Anuradha Ranasinghe |
| author_facet | Alexander Co Abad David Reid Anuradha Ranasinghe |
| author_sort | Alexander Co Abad |
| collection | DOAJ |
| description | During open surgery, a surgeon relies not only on the detailed view of the organ being operated upon and on being able to feel the fine details of this organ but also heavily relies on the combination of these two senses. In laparoscopic surgery, haptic feedback provides surgeons information on interaction forces between instrument and tissue. There have been many studies to mimic the haptic feedback in laparoscopic-related telerobotics studies to date. However, cutaneous feedback is mostly restricted or limited in haptic feedback-based minimally invasive studies. We argue that fine-grained information is needed in laparoscopic surgeries to study the details of the instrument’s end and can convey via cutaneous feedback. We propose an exoskeleton haptic hand wearable which consists of five 4 × 4 miniaturized fingertip actuators, 80 in total, to convey cutaneous feedback. The wearable is described as modular, lightweight, Bluetooth, and WiFi-enabled, and has a maximum power consumption of 830 mW. Software is developed to demonstrate rapid tactile actuation of edges; this allows the user to feel the contours in cutaneous feedback. Moreover, to demonstrate the idea as an object displayed on a flat monitor, initial tests were carried out in 2D. In the second phase, the wearable exoskeleton glove is then further developed to feel 3D virtual objects by using a virtual reality (VR) headset demonstrated by a VR environment. Two-dimensional and 3D objects were tested by our novel untethered haptic hand wearable. Our results show that untethered humans understand actuation in cutaneous feedback just in a single tapping with 92.22% accuracy. Our wearable has an average latency of 46.5 ms, which is much less than the 600 ms tolerable delay acceptable by a surgeon in teleoperation. Therefore, we suggest our untethered hand wearable to enhance multimodal perception in minimally invasive surgeries to naturally feel the immediate environments of the instruments. |
| first_indexed | 2024-03-09T20:21:52Z |
| format | Article |
| id | doaj.art-f283da02999f486a8adc21d5d44fd827 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-09T20:21:52Z |
| publishDate | 2022-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-f283da02999f486a8adc21d5d44fd8272023-11-23T23:48:23ZengMDPI AGSensors1424-82202022-03-01225192410.3390/s22051924A Novel Untethered Hand Wearable with Fine-Grained Cutaneous Haptic FeedbackAlexander Co Abad0David Reid1Anuradha Ranasinghe2Faculty of Science, School of Mathematics, Computer Science, and Engineering, Liverpool Hope University, Liverpool L16 9JD, UKFaculty of Science, School of Mathematics, Computer Science, and Engineering, Liverpool Hope University, Liverpool L16 9JD, UKFaculty of Science, School of Mathematics, Computer Science, and Engineering, Liverpool Hope University, Liverpool L16 9JD, UKDuring open surgery, a surgeon relies not only on the detailed view of the organ being operated upon and on being able to feel the fine details of this organ but also heavily relies on the combination of these two senses. In laparoscopic surgery, haptic feedback provides surgeons information on interaction forces between instrument and tissue. There have been many studies to mimic the haptic feedback in laparoscopic-related telerobotics studies to date. However, cutaneous feedback is mostly restricted or limited in haptic feedback-based minimally invasive studies. We argue that fine-grained information is needed in laparoscopic surgeries to study the details of the instrument’s end and can convey via cutaneous feedback. We propose an exoskeleton haptic hand wearable which consists of five 4 × 4 miniaturized fingertip actuators, 80 in total, to convey cutaneous feedback. The wearable is described as modular, lightweight, Bluetooth, and WiFi-enabled, and has a maximum power consumption of 830 mW. Software is developed to demonstrate rapid tactile actuation of edges; this allows the user to feel the contours in cutaneous feedback. Moreover, to demonstrate the idea as an object displayed on a flat monitor, initial tests were carried out in 2D. In the second phase, the wearable exoskeleton glove is then further developed to feel 3D virtual objects by using a virtual reality (VR) headset demonstrated by a VR environment. Two-dimensional and 3D objects were tested by our novel untethered haptic hand wearable. Our results show that untethered humans understand actuation in cutaneous feedback just in a single tapping with 92.22% accuracy. Our wearable has an average latency of 46.5 ms, which is much less than the 600 ms tolerable delay acceptable by a surgeon in teleoperation. Therefore, we suggest our untethered hand wearable to enhance multimodal perception in minimally invasive surgeries to naturally feel the immediate environments of the instruments.https://www.mdpi.com/1424-8220/22/5/1924haptic devicescutaneous feedbackmedical trainingvirtual realitywearable devicesteleoperation |
| spellingShingle | Alexander Co Abad David Reid Anuradha Ranasinghe A Novel Untethered Hand Wearable with Fine-Grained Cutaneous Haptic Feedback Sensors haptic devices cutaneous feedback medical training virtual reality wearable devices teleoperation |
| title | A Novel Untethered Hand Wearable with Fine-Grained Cutaneous Haptic Feedback |
| title_full | A Novel Untethered Hand Wearable with Fine-Grained Cutaneous Haptic Feedback |
| title_fullStr | A Novel Untethered Hand Wearable with Fine-Grained Cutaneous Haptic Feedback |
| title_full_unstemmed | A Novel Untethered Hand Wearable with Fine-Grained Cutaneous Haptic Feedback |
| title_short | A Novel Untethered Hand Wearable with Fine-Grained Cutaneous Haptic Feedback |
| title_sort | novel untethered hand wearable with fine grained cutaneous haptic feedback |
| topic | haptic devices cutaneous feedback medical training virtual reality wearable devices teleoperation |
| url | https://www.mdpi.com/1424-8220/22/5/1924 |
| work_keys_str_mv | AT alexandercoabad anoveluntetheredhandwearablewithfinegrainedcutaneoushapticfeedback AT davidreid anoveluntetheredhandwearablewithfinegrainedcutaneoushapticfeedback AT anuradharanasinghe anoveluntetheredhandwearablewithfinegrainedcutaneoushapticfeedback AT alexandercoabad noveluntetheredhandwearablewithfinegrainedcutaneoushapticfeedback AT davidreid noveluntetheredhandwearablewithfinegrainedcutaneoushapticfeedback AT anuradharanasinghe noveluntetheredhandwearablewithfinegrainedcutaneoushapticfeedback |