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Surgical audio information as base for haptic feedback in robotic-assisted procedures
- Source :
- Current Directions in Biomedical Engineering, Vol 6, Iss 1, Pp 1214-24 (2020)
- Publication Year :
- 2020
- Publisher :
- De Gruyter, 2020.
-
Abstract
- This work aims to demonstrate the feasibility that haptic information can be acquired from a da Vinci robotic tool using audio sensing according to sensor placement requirements in a real clinical scenario. For that, two potential audio sensor locations were studied using an experimental setup for performing, in a repeatable way, interactions of a da Vinci forceps with three different tissues. The obtained audio signals were assessed in terms of their resulting signal-to-noise-ratio (SNR) and their capability to distinguish between different tissues. A spectral energy distribution analysis using Discrete Wavelet Transformation was performed to extract signal signatures from the tested tissues. Results show that a high SNR was obtained in most of the audio recordings acquired from both studied positions. Additionally, evident spectral energy-related patterns could be extracted from the audio signals allowing us to distinguish between different palpated tissues.
Details
- Language :
- English
- ISSN :
- 23645504
- Volume :
- 6
- Issue :
- 1
- Database :
- Directory of Open Access Journals
- Journal :
- Current Directions in Biomedical Engineering
- Publication Type :
- Academic Journal
- Accession number :
- edsdoj.28e41a6457a641ed98d2cd73a3dc45b0
- Document Type :
- article
- Full Text :
- https://doi.org/10.1515/cdbme-2020-0036