Evaluation of Skin Deformation Tactile Feedback for Teleoperated Surgical Tasks.

During interaction with objects using a tool, we experience force and tactile feedback. One form of tactile feedback is local fingerpad skin deformation. In this paper, we provide haptic feedback to users of a teleoperation system through a skin deformation tactile feedback device.

Design of an Optically Controlled MR-Compatible Active Needle.

An active needle is proposed for the development of magnetic resonance imaging (MRI)-guided percutaneous procedures. The needle uses a low-transition-temperature shape memory alloy (LT SMA) wire actuator to produce bending in the distal section of the needle. Actuation is achieved with internal optical heating using laser light transported via optical fibers and side coupled to the LT SMA.

Sensory Substitution and Augmentation Using 3-Degree-of-Freedom Skin Deformation Feedback.

During tool-mediated interaction with everyday objects, we experience kinesthetic forces and tactile sensations in the form of vibration and skin deformation at the fingerpad. Fingerpad skin deformation is caused by forces applied tangentially and normally to the fingerpad skin, resulting in tangential and normal skin displacement. We designed a device to convey 3-degree-of-freedom (DoF) force information to the user via skin deformation, and conducted two experiments to determine the devices effectiveness for force-feedback substitution and augmentation.

An Optical Actuation System and Curvature Sensor for a MR-compatible Active Needle.

A side optical actuation method is presented for a slender MR-compatible active needle. The needle includes an active region with a shape memory alloy (SMA) wire actuator, where the wire generates a contraction force when optically heated by a laser delivered though optical fibers, producing needle tip bending. A prototype, with multiple side heating spots, demonstrates twice as fast an initial response compared to fiber tip heating when 0.