Comprehensively covers the key technologies for the development of tactile perception in minimally invasive surgery Covering the timely topic of tactile sensing and display in minimally invasive and robotic surgery, this book comprehensively explores new techniques which could dramatically reduce the need for invasive procedures. The tools currently used in minimally invasive surgery (MIS) lack any sort of tactile sensing, significantly reducing the performance of these types of procedures. This book systematically explains the various technologies which the most prominent researchers have proposed to overcome the problem. Furthermore, the authors put forward their own findings, which have been published in recent patents and patent applications. These solutions offer original and creative means of surmounting the current drawbacks of MIS and robotic surgery.
Key features:-
- Comprehensively covers topics of this ground-breaking technology including tactile sensing, force sensing, tactile display, PVDF fundamentals
- Describes the mechanisms, methods and sensors that measure and display kinaesthetic and tactile data between a surgical tool and tissue
- Written by authors at the cutting-edge of research into the area of tactile perception in minimally invasive surgery
- Provides key topic for academic researchers, graduate students as well as professionals working in the area
Preface xi About the Authors xiii 1 Introduction to Tactile Sensing
and Display 1 1.1 Background 1 1.2 Conventional and Modern Surgical
Techniques 3 1.3 Motivation 4 1.4 Tactile Sensing 5 1.5 Force Sensing 5
1.6 Force Position 5 1.7 Softness Sensing 6 1.8 Lump Detection 7 1.9
Tactile Sensing in Humans 8 1.10 Haptic Sense 8 1.10.1 Mechanoreception 8
1.10.2 Proprioceptive Sense 11 1.11 Tactile Display Requirements 11 1.12
Minimally Invasive Surgery (MIS) 12 1.12.1 Advantages/Disadvantages of MIS
13 1.13 Robotics 14 1.13.1 Robotic Surgery 17 1.14 Applications 17
References 18 2 Tactile Sensing Technologies 23 2.1 Introduction 23 2.2
Capacitive Sensors 25 2.3 Conductive Elastomer Sensors 25 2.4
Magnetic-Based Sensors 26 2.5 Optical Sensors 27 2.6 MEMS-Based Sensors 28
2.7 Piezoresistive Sensors 29 2.7.1 Conductive Elastomers, Carbon, Felt, and
Carbon Fibers 30 2.8 Piezoelectric Sensors 31 References 34 3
Piezoelectric Polymers: PVDF Fundamentals 37 3.1 Constitutive Equations of
Crystals 37 3.2 IEEE Notation 42 3.3 Fundamentals of PVDF 43 3.4
Mechanical Characterization of Piezoelectric Polyvinylidene Fluoride Films:
Uniaxial and Biaxial 44 3.4.1 The Piezoelectric Properties of Uniaxial and
Biaxial PVDF Films 45 3.5 The Anisotropic Property of Uniaxial PVDF Film and
Its Influence on Sensor Applications 47 3.6 The Anisotropic Property of
Biaxial PVDF Film and Its Influence on Sensor Applications 51 3.7
Characterization of Sandwiched Piezoelectric PVDF Films 51 3.8 Finite
Element Analysis of Sandwiched PVDF 53 3.8.1 Uniaxial PVDF Film 55 3.8.2
Biaxial PVDF Film 58 3.9 Experiments 59 3.9.1 Surface Friction Measurement
60 3.9.2 Experiments Performed on Sandwiched PVDF for Different Surface
Roughness 61 3.10 Discussion and Conclusions 64 References 65 4 Design,
Analysis, Fabrication, and Testing of Tactile Sensors 67 4.1 Endoscopic
Force Sensor: Sensor Design 68 4.1.1 Modeling 68 4.1.2 Sensor Fabrication
71 4.1.3 Experimental Analysis 73 4.2 Multi-Functional MEMS Based Tactile
Sensor: Design, Analysis, Fabrication, and Testing 77 4.2.1 Sensor Design 77
4.2.2 Finite Element Modeling 81 4.2.3 Sensor Fabrication 84 4.2.4 Sensor
Assembly 92 4.2.5 Testing and Validation: Softness Characterization 93
References 97 5 Bulk Softness Measurement Using a Smart Endoscopic Grasper
99 5.1 Introduction 99 5.2 Problem Definition 99 5.3 Method 100 5.4
Energy and Steepness 104 5.5 Calibrating the Grasper 105 5.6 Results and
Discussion 106 References 111 6 Lump Detection 113 6.1 Introduction 113
6.2 Constitutive Equations for Hyperelasticity 113 6.2.1 Hyperelastic
Relationships in Uniaxial Loading 114 6.3 Finite Element Modeling 117 6.4
The Parametric Study 119 6.4.1 The Effect of Lump Size 120 6.4.2 The Effect
of Depth 122 6.4.3 The Effect of Applied Load 123 6.4.4 The Effect of Lump
Stiffness 124 6.5 Experimental Validation 125 6.6 Discussion and
Conclusions 127 References 128 7 Tactile Display Technology 131 7.1 The
Coupled Nature of the Kinesthetic and Tactile Feedback 132 7.2
Force-Feedback Devices 134 7.3 A Review of Recent and Advanced Tactile
Displays 134 7.3.1 Electrostatic Tactile Displays for Roughness 134 7.3.2
Rheological Tactile Displays for Softness 136 7.3.3 Electromagnetic Tactile
Displays (Shape Display) 137 7.3.4 Shape Memory Alloy (SMA) Tactile Display
(Shape) 138 7.3.5 Piezoelectric Tactile Display (Lateral Skin Stretch) 138
7.3.6 Air Jet Tactile Displays (Surface Indentation) 140 7.3.7 Thermal
Tactile Displays 141 7.3.8 Pneumatic Tactile Displays (Shape) 142 7.3.9
Electrocutaneous Tactile Displays 142 7.3.10 Other Tactile Display
Technologies 142 References 143 8 Grayscale Graphical Softness Tactile
Display 147 8.1 Introduction 147 8.2 Graphical Softness Display 147 8.2.1
Feedback System 148 8.2.2 Sensor 148 8.2.3 Data Acquisition System 150
8.2.4 Signal Processing 150 8.2.5 Results and Discussion 155 8.3 Graphical
Representation of a Lump 156 8.3.1 Sensor Structure 157 8.3.2 Rendering
Algorithm 158 8.3.3 Experiments 165 8.3.4 Results and Discussion 167 8.4
Summary and Conclusions 169 References 169 9 Minimally Invasive Robotic
Surgery 171 9.1 Robotic System for Endoscopic Heart Surgery 173 9.2 da
Vinci and Amadeus Composer Robot Surgical System 174 9.3 Advantages
and Disadvantages of Robotic Surgery 176 9.4 Applications 178 9.4.1
Practical Applications of Robotic Surgery Today 180 9.5 The Future of
Robotic Surgery 181 References 182 10 Teletaction 185 10.1 Introduction
185 10.2 Application Fields 186 10.2.1 Telemedicine or in Absentia Health
Care 186 10.2.2 Telehealth or e Health 187 10.2.3 Telepalpation, Remote
Palpation, or Artificial Palpation 187 10.2.4 Telemanipulation 189 10.2.5
Telepresence 190 10.3 Basic Elements of a Teletaction System 191 10.4
Introduction to Human Psychophysics 191 10.4.1 Steven s Power Law 194
10.4.2 Law of Asymptotic Linearity 196 10.4.3 Law of Additivity 197 10.4.4
General Law of Differential Sensitivity 198 10.5 Psychophysics for
Teletaction 199 10.5.1 Haptic Object Recognition 199 10.5.2 Identification
of Spatial Properties 204 10.5.3 Perception of Texture 206 10.5.4 Control
of Haptic Interfaces 206 10.6 Basic Issues and Limitations of Teletaction
Systems 208 10.7 Applications of Teletaction 209 10.8 Minimally Invasive
and Robotic Surgery (MIS and MIRS) 209 10.9 Robotics 212 10.10 Virtual
Environment 213 References 215 11 Teletaction Using a Linear Actuator
Feedback-Based Tactile Display 223 11.1 System Design 223 11.2 Tactile
Actuator 224 11.3 Force Sensor 225 11.4 Shaft Position Sensor 227 11.5
Stress Strain Curves 228 11.6 PID Controller 228 11.6.1 Linear Actuator
Model 230 11.6.2 Verifying the Identification Results 232 11.6.3 Design of
the PID Controller 233 11.7 Processing Software 237 11.8 Experiments 237
11.9 Results and Discussion 238 11.10 Summary and Conclusion 241 References
244 12 Clinical and Regulatory Challenges for Medical Devices 245 12.1
Clinical Issues 245 12.2 Regulatory Issues 247 12.2.1 Medical Product
Jurisdiction 248 12.2.2 Types of Medical Devices 248 12.2.3 Medical Device
Classification 249 12.2.4 Determining Device Classification 250 12.3
Medical Device Approval Process 251 12.3.1 Design Controls 252 12.3.2 The
510 (K) Premarket Notifications 252 12.3.3 The Premarket Approval
Application 254 12.3.4 The Quality System Regulation 255 12.4 FDA Clearance
of Robotic Surgery Systems 256 References 256 Index 259
