title: Using visual cues to enhance haptic feedback for palpation on virtual model of soft tissue.
abstract: This paper explores methods that make use of visual cues aimed at generating actual haptic sensation to the user, namely pseudo-haptics. We propose a new pseudo-haptic feedback-based method capable of conveying 3D haptic information and combining visual haptics with force feedback to enhance the user's haptic experience. We focused on an application related to tumor identification during palpation and evaluated the proposed method in an experimental study where users interacted with a haptic device and graphical interface while exploring a virtual model of soft tissue, which represented stiffness distribution of a silicone phantom tissue with embedded hard inclusions. The performance of hard inclusion detection using force feedback only, pseudo-haptic feedback only, and the combination of the two feedbacks was compared with the direct hand touch. The combination method and direct hand touch had no significant difference in the detection results. Compared with the force feedback alone, our method increased the sensitivity by 5%, the positive predictive value by 4%, and decreased detection time by 48.7%. The proposed methodology has great potential for robot-assisted minimally invasive surgery and in all applications where remote haptic feedback is needed.
authors.affiliation: School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an, 710049, Shaanxi, China. min.li@mail.xjtu.edu.cn.
authors.forename: Min
authors.initials: M
authors.lastname: Li
authors.affiliation: Department of Informatics, Kings College London, London, WC2R 2LS, UK.
authors.forename: Jelizaveta
authors.initials: J
authors.lastname: Konstantinova
authors.affiliation: Department of Informatics, Kings College London, London, WC2R 2LS, UK.|Department of Mathematics and Computer Science, Hope University, Liverpool, UK.
authors.forename: Emanuele L
authors.initials: EL
authors.lastname: Secco
authors.affiliation: Department of Informatics, Kings College London, London, WC2R 2LS, UK.
authors.forename: Allen
authors.initials: A
authors.lastname: Jiang
authors.affiliation: Department of Informatics, Kings College London, London, WC2R 2LS, UK.
authors.forename: Hongbin
authors.initials: H
authors.lastname: Liu
authors.affiliation: Department of Informatics, Kings College London, London, WC2R 2LS, UK.
authors.forename: Thrishantha
authors.initials: T
authors.lastname: Nanayakkara
authors.affiliation: Department of Informatics, Kings College London, London, WC2R 2LS, UK.|College of Engineering, Khalifa University of Science, Technology and Research, Abu Dhabi, UAE.
authors.forename: Lakmal D
authors.initials: LD
authors.lastname: Seneviratne
authors.affiliation: Medical Research Council (MRC) Centre for Transplantation, King's College London, Kings Health Partners, Guys Hospital, London, SE1 9RT, UK.
authors.forename: Prokar
authors.initials: P
authors.lastname: Dasgupta
authors.affiliation: Department of Informatics, Kings College London, London, WC2R 2LS, UK.
authors.forename: Kaspar
authors.initials: K
authors.lastname: Althoefer
authors.affiliation: Department of Informatics, Kings College London, London, WC2R 2LS, UK.
authors.forename: Helge A
authors.initials: HA
authors.lastname: Wurdemann
mesh_terms: D004867:Equipment Design; D005246:Feedback; D006801:Humans; D019060:Minimally Invasive Surgical Procedures / Q000295:instrumentation*; D008954:Models, Biological; D009369:Neoplasms / Q000503:physiopathology; D010173:Palpation / Q000295:instrumentation*; D019047:Phantoms, Imaging; D065287:Robotic Surgical Procedures
keywords: Haptic feedback; Pseudo-haptic feedback; Rigid tool/soft tissue interaction; Tumor identification