Perception and action in simulated telesurgery

Ilana Nisky*, Assaf Pressman, Carla M. Pugh, Ferdinando A. Mussa-Ivaldi, Amir Karniel

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

Abstract

We studied the effect of delay on perception and action in contact with a force field that emulates elastic soft tissue with a specific rigid nonlinear boundary. Such field is similar to forces exerted on a needle during teleoperated needle insertion tasks. We found that a nonlinear boundary region causes both psychometric and motor overestimation of stiffness, and that delay causes motor but not psychometric underestimation of the stiffness of this nonlinear soft tissue. In addition we show that changing the teleoperation channel gain reduces and can even cancel the motor effect of delay.

Original languageEnglish (US)
Title of host publicationHaptics
Subtitle of host publicationGenerating and Perceiving Tangible Sensations - International Conference, EuroHaptics 2010, Proceedings
Pages213-218
Number of pages6
EditionPART 1
DOIs
StatePublished - Aug 6 2010
EventInternational Conference on Haptics: Generating and Perceiving Tangible Sensations, EuroHaptics 2010 - Amsterdam, Netherlands
Duration: Jul 8 2010Jul 10 2010

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
NumberPART 1
Volume6191 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

OtherInternational Conference on Haptics: Generating and Perceiving Tangible Sensations, EuroHaptics 2010
CountryNetherlands
CityAmsterdam
Period7/8/107/10/10

Keywords

  • action
  • delay
  • needle insertion
  • perception
  • telesurgery

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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