Using Visual Cues to Enhance Haptic Feedback for Palpation on Virtual Model of Soft Tissue

Li, Min and Konstantinova, Jelizaveta and Secco, Emanuele Lindo and Jiang, Allen and Liu, Hongbin and Nanayakkara, Thrishantha and Seneviratne, Lakmal D and Dasgupta, Prokar and Althoefer, Kaspar and Wurdemann, Helge A (2015) Using Visual Cues to Enhance Haptic Feedback for Palpation on Virtual Model of Soft Tissue. Medical & Biological Engineering & Computing, 53 (11). pp. 1177-1186. ISSN 0140-0118

[img] Text
Secco 2015 Medical & Biological Engineering & Computing.pdf - Accepted Version

Download (980kB)


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 were 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.

Item Type: Article
Additional Information and Comments: “The final publication is available at Springer via”
Keywords: Haptic feedback Pseudo-haptic feedback Rigid tool/soft tissue interaction Tumor identification
Faculty / Department: Faculty of Science > Mathematics and Computer Science
Depositing User: Users 23 not found.
Date Deposited: 15 Jan 2016 09:35
Last Modified: 15 Jan 2016 09:35

Actions (login required)

View Item View Item