Robot-assisted surgery is characterized by a total loss of haptic feedback, requiring surgeons to rely solely on visual cues. A pneumatically-driven balloon actuator array, suitable for mounting on robotic surgical master controls, has been developed to provide haptic feedback to surgeons. The actuator arrays consist of a molded polydimethylsiloxane substrate with cylindrical channels and a spin-coated silicone film that forms the array of balloons. Preliminary human perceptual studies have demonstrated that balloon diameters greater than may provide effective haptic feedback to the index finger. Before conducting further human perceptual tests, refinements of the fabrication process and performance data of the actuator are required. Balloons with diameters ranging between and were fabricated with film thicknesses of and . Inflation pressure versus balloon deflection tests and cyclic actuation tests were performed to characterize each balloon type. The results demonstrated a high linearity between inflation pressure and balloon deflection and negligible hysteresis effects between inflation and deflation over . The studies indicated that films are optimal for and diameter balloons, and films are optimal for , , and diameter balloons. Due to its compact size and high performance, the described pneumatic actuator can provide sensory input that is otherwise unavailable during robotic surgery.
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December 2008
Research Papers
Fabrication and Characterization of a Balloon Actuator Array for Haptic Feedback in Robotic Surgery
Chih-Hung King,
Chih-Hung King
Center for Advanced Surgical and Interventional Technology (CASIT)
, Los Angeles, CA 90095-7360; Biomedical Engineering IDP, University of California at Los Angeles
, Los Angeles, CA 90095
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Miguel Franco,
Miguel Franco
Center for Advanced Surgical and Interventional Technology (CASIT)
, Los Angeles, CA 90095-7360; Biomedical Engineering IDP, University of California at Los Angeles
, Los Angeles, CA 90095
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Martin O. Culjat,
Martin O. Culjat
Center for Advanced Surgical and Interventional Technology (CASIT)
, Los Angeles, CA 90095-7360; Department of Surgery, University of California at Los Angeles
, Los Angeles, CA 90095
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Adrienne T. Higa,
Adrienne T. Higa
Center for Advanced Surgical and Interventional Technology (CASIT)
, Los Angeles, CA 90095-7360; Biomedical Engineering IDP, University of California at Los Angeles
, Los Angeles, CA 90095
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James W. Bisley,
James W. Bisley
Center for Advanced Surgical and Interventional Technology (CASIT)
, Los Angeles, CA 90095-7360; Department of Neurobiology, University of California at Los Angeles
, Los Angeles, CA 90095
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Erik Dutson,
Erik Dutson
Center for Advanced Surgical and Interventional Technology (CASIT)
, Los Angeles, CA 90095-7360; Department of Surgery, University of California at Los Angeles
, Los Angeles, CA 90095
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Warren S. Grundfest
Warren S. Grundfest
Center for Advanced Surgical and Interventional Technology (CASIT)
, Los Angeles, CA 90095-7360; Biomedical Engineering IDP, and Department of Surgery, University of California at Los Angeles
, Los Angeles, CA 90095
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Chih-Hung King
Center for Advanced Surgical and Interventional Technology (CASIT)
, Los Angeles, CA 90095-7360; Biomedical Engineering IDP, University of California at Los Angeles
, Los Angeles, CA 90095
Miguel Franco
Center for Advanced Surgical and Interventional Technology (CASIT)
, Los Angeles, CA 90095-7360; Biomedical Engineering IDP, University of California at Los Angeles
, Los Angeles, CA 90095
Martin O. Culjat
Center for Advanced Surgical and Interventional Technology (CASIT)
, Los Angeles, CA 90095-7360; Department of Surgery, University of California at Los Angeles
, Los Angeles, CA 90095
Adrienne T. Higa
Center for Advanced Surgical and Interventional Technology (CASIT)
, Los Angeles, CA 90095-7360; Biomedical Engineering IDP, University of California at Los Angeles
, Los Angeles, CA 90095
James W. Bisley
Center for Advanced Surgical and Interventional Technology (CASIT)
, Los Angeles, CA 90095-7360; Department of Neurobiology, University of California at Los Angeles
, Los Angeles, CA 90095
Erik Dutson
Center for Advanced Surgical and Interventional Technology (CASIT)
, Los Angeles, CA 90095-7360; Department of Surgery, University of California at Los Angeles
, Los Angeles, CA 90095
Warren S. Grundfest
Center for Advanced Surgical and Interventional Technology (CASIT)
, Los Angeles, CA 90095-7360; Biomedical Engineering IDP, and Department of Surgery, University of California at Los Angeles
, Los Angeles, CA 90095J. Med. Devices. Dec 2008, 2(4): 041006 (7 pages)
Published Online: November 19, 2008
Article history
Received:
October 4, 2007
Revised:
August 25, 2008
Published:
November 19, 2008
Citation
King, C., Franco, M., Culjat, M. O., Higa, A. T., Bisley, J. W., Dutson, E., and Grundfest, W. S. (November 19, 2008). "Fabrication and Characterization of a Balloon Actuator Array for Haptic Feedback in Robotic Surgery." ASME. J. Med. Devices. December 2008; 2(4): 041006. https://doi.org/10.1115/1.2996593
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