Effects of realistic force feedback in a robotic assisted minimally invasive surgery system

Robotic assisted minimally invasive surgery systems not only have the advantages of traditional laparoscopic procedures but also restore the surgeon's hand-eye coordination and improve the surgeon's precision by filtering hand tremors. Unfortunately, these benefits have come at the expense of the surgeon's ability to feel. Several research efforts have already attempted to restore this feature and study the effects of force feedback in robotic systems. The proposed methods and studies have some shortcomings. The main focus of this research is to overcome some of these limitations and to study the effects of force feedback in palpation in a more realistic fashion.

Developing an instrumental activities of daily living tool as part of the low vision assessment of daily activities protocol

To determine the validity, reliability, and measurement characteristics using factor and Rasch analysis of the Very Low Vision Instrumental Activities of Daily Living (IADL-VLV) in persons with severe vision loss.

Robotic grasping and manipulation controller framework: architecture redevelopment

This paper details the further improvements obtained by redesigning a previously offered Manipulation Controller Framework to provide support to an innovative, friction-based object slippage detection strategy employed by the robotic object manipulator. This upgraded Manipulation Controller Framework includes improved slippage detection functionality and a streamlined architecture designed to improve controller robustness, reliability and speed. Improvements include enhancements to object slippage detection strategy, the removal of the decision making module and integration of its functionality into the Motion Planner, and the stream-lining of the Motion Planner to improve its effectiveness. It is anticipated that this work will be useful to researchers developing integrated robot controller architectures and slippage control.

Students with vision impairments in the UAE higher education system

Students with vision impairments are facing significant challenges accessing the physical, educational and social environments in the UAE higher education system. This thesis highlighted this main barriers, and provided useful recommendations to universities in the UAE to improve their support services to individuals with vision impairments.

Soft tissue characterisation using a force feedback-enabled instrument for robotic assisted minimally invasive surgery systems

An automated laparoscopic instrument capable of non-invasivemeasurement of tip/tissue interaction forces for direct application in robotic assisted minimally invasive surgery systems is introduced in this chapter. It has the capability to measure normal grasping forces as well as lateral interaction forces without any sensor mounted on the tip jaws. Further to non-invasive actuation of the tip, the proposed instrument is also able to change the grasping direction during surgical operation. Modular design of the instrument allows conversion between surgical modalities (e.g., grasping, cutting, and dissecting). The main focus of thispaper is on evaluation of the grasping force capability of the proposed instrument. The mathematical formulation of fenestrated insert is presented and its non-linear behaviour is studied. In order to measure the stiffness of soft tissues, a device was developed that is also described in this chapter. Tissue characterisation experiments were conducted and results are presented and analysed here. The experimental results verify the capability of the proposed instrument in accurately measuring grasping forces and in characterising artificial tissue samples of varying stiffness.

Our Sherlockian eyes: the surveillance of vision

or this inter-disciplinary article, we undertook a pilot case study that eye-tracked the ‘Holmes Saves Mrs. Hudson’ sequence from the episode, A Scandal in Belgravia (Sherlock, BBC, 2012). This small-scale empirical study involved a total of 13 participants (3 males and 10 females, mean age was: 27 years), comprised of a mixture of academics and undergraduate students at La Trobe University in Melbourne, Australia. The article examines its findings through a range of threaded frames – neuroscience, forensics, surveillance, haptics, memory, performance-movement, and relationality – and uniquely draws upon the interests of the authors to set the examination in context. The article is both a reading of Sherlock and a dialogue between its authors. We discover that the codes and conventions of Sherlock have a direct impact on where viewers look but we also discover eyes emerging in the periphery of the frame, and we account for these ways of seeing in different ways.

Facilitating effects of transcranial direct current stimulation on motor imagery brain-computer interface with robotic feedback for stroke rehabilitation

OBJECTIVE: To investigate the efficacy and effects of transcranial direct current stimulation (tDCS) on motor imagery brain-computer interface (MI-BCI) with robotic feedback for stroke rehabilitation. DESIGN: A sham-controlled, randomized controlled trial. SETTING: Patients recruited through a hospital stroke rehabilitation program. PARTICIPANTS: Subjects (N=19) who incurred a stroke 0.8 to 4.3 years prior, with moderate to severe upper extremity functional impairment, and passed BCI screening. INTERVENTIONS: Ten sessions of 20 minutes of tDCS or sham before 1 hour of MI-BCI with robotic feedback upper limb stroke rehabilitation for 2 weeks. Each rehabilitation session comprised 8 minutes of evaluation and 1 hour of therapy. MAIN OUTCOME MEASURES: Upper extremity Fugl-Meyer Motor Assessment (FMMA) scores measured end-intervention at week 2 and follow-up at week 4, online BCI accuracies from the evaluation part, and laterality coefficients of the electroencephalogram (EEG) from the therapy part of the 10 rehabilitation sessions. RESULTS: FMMA score improved in both groups at week 4, but no intergroup differences were found at any time points. Online accuracies of the evaluation part from the tDCS group were significantly higher than those from the sham group. The EEG laterality coefficients from the therapy part of the tDCS group were significantly higher than those of the sham group. CONCLUSIONS: The results suggest a role for tDCS in facilitating motor imagery in stroke.

Haptic virtual reality training environment for micro-robotic cell injection

Micro-robotic cell injection is typically performed manually by a trainedbio-operator, and success rates are often low. To enhance bio-operator performance during real-time cell injection, our earlier work introduced a haptically-enabled micro-robotic cell injection system. The system employed haptic virtual fixtures to provide haptic guidance according to articular performance metrics. This paper extends the work by replicating the system within a virtual reality (VR) environment for bio-operator training. Using the virtual environment, the bio-operator is able to control the virtual injection process in the same way they would with the physical haptic micro-robotic cell injection system, while benefiting from the enhanced visualisation capabilities offered by the 3D VR environment. The system is achieved using cost-effective components offering training at much lower cost than using the physical system.

Keyboard control method for virtual reality micro-robotic cell injection training

The rapid development of virtual reality offers significant potential for skills training applications. Our ongoing work proposes virtual reality operator training for the micro-robotic cell injection procedure. The interface between the operator and the system can be achieved in many different ways. The computer keyboard is ubiquitous in its use for everyday computing applications and also commonly utilized in virtual reality systems. Based on the premise that most people have experience in using a computer keyboard, as opposed to more sophisticated input devices, this paper considers the feasibility of using a keyboard to control the micro-robot for cell injection. In this study, thirteen participants underwent the experimental evaluation. The participants were asked to perform three simulated trial sessions in a virtual micro-robotic cell injection environment. Each session consisted of ten cell injection trials and relevant data for each trial were recorded and analyzed. Results showed participants' performance improvement after the three sessions. It was also observed that participants intuitively controlled multiple axes of the micro-robot simultaneously despite the absence of instruction on how to do so. This continued throughout the experiments and suggests skills transfer from other keyboard based interactions. Based on the results provided, it is suggested that keyboard control is a feasible, simple and low-cost control method for the virtual micro-robot.

Haptic technology for micro-robotic cell injection training systems — a review

Currently, the micro-robotic cell injection procedure is performed manually by expert human bio-operators. In order to be proficient at the task, lengthy and expensive dedicated training is required. As such, effective specialized training systems for this procedure can prove highly beneficial. This paper presents a comprehensive review of haptic technology relevant to cell injection training and discusses the feasibility of developing such training systems, providing researchers with an inclusive resource enabling the application of the presented approaches, or extension and advancement of the work. A brief explanation of cell injection and the challenges associated with the procedure are first presented. Important skills, such as accuracy, trajectory, speed and applied force, which need to be mastered by the bio-operator in order to achieve successful injection, are then discussed. Then an overview of various types of haptic feedback, devices and approaches is presented. This is followed by discussion on the approaches to cell modeling. Discussion of the application of haptics to skills training across various fields and haptically-enabled virtual training systems evaluation are then presented. Finally, given the findings of the review, this paper concludes that a haptically-enabled virtual cell injection training system is feasible and recommendations are made to developers of such systems.

Design of a virtual reality training system for micro-robotic cell injection

This paper discusses the design of a virtual reality (VR) training system for micro-robotic cell injection. A brief explanation of cell injection and the challenges associated with the procedure are first presented. This is followed by discussion of the skills required by the bio-operator to achieve successful injection, such as accuracy, trajectory and applied force. The design of the VR system which includes the visual display, input controllers, mapping strategies, haptic guidance and output data is then discussed. Initial evaluation of the VR system is presented including analysis and discussion based on conducted user evaluations. Finally, given the findings of the initial evaluation, this paper concludes that an effective haptically-enabled virtual cell injection training system is feasible, and recommendations for improvement and future work are given.