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Surgical audio information as base for haptic feedback in robotic-assisted procedures

Authors
  • Illanes, Alfredo1
  • Schaufler, Anna1
  • Sühn, Thomas1
  • Boese, Axel1
  • Croner, Roland2
  • Friebe, Michael1
  • 1 Otto-von-Guericke University Magdeburg, Medical Faculty, Germany , (Germany)
  • 2 Otto-von-Guericke University, Germany , (Germany)
Type
Published Article
Journal
Current Directions in Biomedical Engineering
Publisher
De Gruyter
Publication Date
Sep 17, 2020
Volume
6
Issue
1
Identifiers
DOI: 10.1515/cdbme-2020-0036
Source
De Gruyter
Keywords
License
Green

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.

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