Workshop on Cutaneous Feedback for Teleoperation in Medical Robotics

The aim of this workshop is to bring together researchers from haptics and surgical robotics to discuss current research and future directions, to bring haptics in the operating room and improve the performance of current surgical robotic systems.
 
Telerobotic surgical systems involve a slave robot, which interacts with the patient, and a master console, operated by the human surgeon. The slave robot reproduces the hand movements of the surgeon, who in turn needs to observe the operative environment with which the robot is interacting. The latter can be achieved by a combination of visual and haptic cues that flow from the operating table to the surgeon. Visual feedback is already available in commercial robotic surgery systems (e.g., the Intuitive Surgical da Vinci Si), but current surgical robots have very limited haptic feedback. 
This omission is due to multiple reasons, from the negative effect that haptic feedback has on the stability of the system to the difficulty of including accurate sensors in the robotic instruments due to sterilization and cost requirements. However, haptic feedback is still widely considered a valuable addition to teleoperated surgical systems. 
 
For this reason, it is paramount to study and develop new systems to provide surgeons with haptic feedback from the operating tools, while guaranteeing the safety of the patient. In this sense, cutaneous feedback has recently received great attention from researchers; delivering ungrounded haptic cues to the surgeon’s skin conveys rich information and does not affect the stability and the safety of the teleoperation system. 
 

Organizers

  • Dr. Claudio Pacchierotti, Italian Institute of Technology
  • Prof. Domenico Prattichizzo, University of Siena and Italian Institute of Technology
  • Prof. Katherine J. Kuchenbecker, University of Pennsylvania

Video lectures available

  • Welcome by the organizers
  • Dr. Antonio Gangemi (Univ. of Illinois Medical Center), “Robotic Training for General Surgery Residents at UIC”
  • Dr. Lawton Verner (Intuitive Surgical, Inc.), “Challenges to Adding Haptic Feedback to Surgical Robots”
  • Prof. Cagatay Basdogan (Koc Univ.), “Challenges in Characterization of Soft Tissue Material Properties”
  • Dr. Claudio Pacchierotti (Italian Institute of Technology) and Prof. Domenico Prattichizzo (Univ. of Siena and Italian Institute of Technology), “Cutaneous Feedback of Fingertip Deformation and Vibration for Palpation in Robotic Surgery”
  • Prof. Allison M. Okamura (Stanford Univ.), “Tactile Skin Deformation Feedback for Conveying Environment Forces in Teleoperation”
  • Prof. Dong-Soo Kwon (KAIST), “A Novel Surgical Pen-type Master Device using Vibrotactile Feedback”
  • Prof. Katherine J. Kuchenbecker (Univ. of Pennsylvania), “Tactile Feedback of Tool Vibrations in Robotic Surgery”
Video: 
Dr. Antonio Gangemi (Univ. of Illinois Medical Center),“Robotic Training for General Surgery Residents at UIC”
 
Dr. Lawton Verner (Intuitive Surgical, Inc.), “Challenges to Adding Haptic Feedback to Surgical Robots”
 
Prof. Cagatay Basdogan (Koç Univ.), “Challenges in Characterization of Soft Tissue Material Properties”
 
Dr. Claudio Pacchierotti (IIT), “Cutaneous Feedback for Palpation in Robotic Surgery"
 
Prof. Allison M. Okamura (Stanford Univ.), “Tactile Skin Deformation Feedback for Teleoperation”
 
Prof. Dong-Soo Kwon (KAIST), “A Novel Surgical Pen-type Master Device using Vibrotactile Feedback”
 
Prof. Katherine J. Kuchenbecker (Univ. of Pennsylvania), “Tactile Feedback of Tool Vibrations in Robotic Surgery”