The Feasibility of Coin Motors for Use in a Vibrotactile Display for the Blind

Bio-inspired Haptic Feedback for Artificial Palpation in Robotic Surgery

Adding haptic feedback has been reported to improve the outcome of minimally invasive robotic surgery. In this study, we seek to determine whether an algorithm based on simulating responses of a cutaneous afferent population can be implemented to improve the performance of presenting haptic feedback for robot-assisted surgery. We propose a bio-inspired controlling model to present vibration and force feedback to help surgeons localize underlying structures in phantom tissue. A single pair of actuators was controlled by outputs of a model of a population of cutaneous afferents based on the pressure signal from a single sensor embedded in surgical forceps. We recruited 25 subjects including 10 expert surgeons to evaluate the performance of the bio-inspired controlling model in an artificial palpation task using the da Vinci surgical robot. Among the control methods tested, the bio-inspired system was unique in allowing both novices and experts to easily identify the locations of all classes of tumors and did so with reduced contact force and tumor contact time. This work demonstrates the utility of our bio-inspired multi-modal feedback system, which resulted in superior performance for both novice and professional users, in comparison to a traditional linear and the existing piecewise discrete algorithms of haptic feedback.

Sensory augmentation to aid training with retinal prostheses

OBJECTIVE

Retinal prosthesis recipients require rehabilitative training to learn the non-intuitive nature of prosthetic 'phosphene vision'. This study investigated whether the addition of auditory cues, using The vOICe sensory substitution device (SSD), could improve functional performance with simulated phosphene vision.

APPROACH

Forty normally sighted subjects completed two visual tasks under three conditions. The phosphene condition converted the image to simulated phosphenes displayed on a virtual reality headset. The SSD condition provided auditory information via stereo headphones, translating the image into sound. Horizontal information was encoded as stereo timing differences between ears, vertical information as pitch, and pixel intensity as audio intensity. The third condition combined phosphenes and SSD. Tasks comprised light localisation from the Basic Assessment of Light and Motion (BaLM) and the Tumbling-E from the Freiburg Acuity and Contrast Test (FrACT). To examine learning effects, twenty of the forty subjects received SSD training prior to assessment.

MAIN RESULTS

Combining phosphenes with auditory SSD provided better light localisation accuracy than either phosphenes or SSD alone, suggesting a compound benefit of integrating modalities. Although response times for SSD-only were significantly longer than all other conditions, combined condition response times were as fast as phosphene-only, highlighting that audio-visual integration provided both response time and accuracy benefits. Prior SSD training provided a benefit to localisation accuracy and speed in SSD-only (as expected) and Combined conditions compared to untrained SSD-only. Integration of the two modalities did not improve spatial resolution task performance, with resolution limited to that of the higher resolution modality (SSD).

SIGNIFICANCE

Combining phosphene (visual) and SSD (auditory) modalities was effective even without SSD training and led to an improvement in light localisation accuracy and response times. Spatial resolution performance was dominated by auditory SSD. The results suggest there may be a benefit to including auditory cues when training vision prosthesis recipients.

A two alternative forced choice method for assessing vibrotactile discrimination thresholds in the lower limb

The development of an easy to implement, quantitative measure to examine vibration perception would be useful for future application in clinical settings. Vibration sense in the lower limb of younger and older adults was examined using the method of constant stimuli (MCS) and the two-alternative forced choice paradigm. The focus of this experiment was to determine an appropriate stimulation site on the lower limb (tendon versus bone) to assess vibration threshold and to determine if the left and right legs have varying thresholds. Discrimination thresholds obtained at two stimulation sites in the left and right lower limbs showed differences in vibration threshold across the two ages groups, but not across sides of the body nor between stimulation sites within each limb. Overall, the MCS can be implemented simply, reliably, and with minimal time. It can also easily be implemented with low-cost technology. Therefore, it could be a good candidate method to assess the presence of specific deep sensitivity deficits in clinical practice, particularly in populations likely to show the onset of sensory deficits.

Psychophysical Evaluation of a Tactile Display Based on Coin Motors

Tactile vision substitution devices present visual images as tactile representations on the skin. In this study we have tested the performance of a prototype 96-tactor vibrotactile using a subset of 64 tactors. We have determined the tactile spatial acuity and intensity discrimination in 14 naïve subjects. Spatial acuity was determined using a grating acuity task. Subjects could successfully identify the orientation of horizontal and vertical gratings with an average psychophysical threshold of 120 mm. When diagonal gratings were included in the analysis, the median performance dropped below psychophysical threshold, but was still significantly above chance at gratings of 142 mm wide. Intensity discrimination yielded an average Weber fraction of 0.44, corresponding to 13 discernable "gray levels" in the available dynamic range. Interleaved stimulation of the motors did not significantly affect spatial acuity or intensity discrimination.

Artificial Organs 2015: A Year in Review

In this Editor's Review, articles published in 2015 are organized by category and briefly summarized. We aim to provide a brief reflection of the currently available worldwide knowledge that is intended to advance and better human life while providing insight for continued application of technologies and methods of organ Replacement, Recovery, and Regeneration. As the official journal of The International Federation for Artificial Organs, The International Faculty for Artificial Organs, the International Society for Rotary Blood Pumps, the International Society for Pediatric Mechanical Cardiopulmonary Support, and the Vienna International Workshop on Functional Electrical Stimulation, Artificial Organs continues in the original mission of its founders "to foster communications in the field of artificial organs on an international level." Artificial Organs continues to publish developments and clinical applications of artificial organ technologies in this broad and expanding field of organ Replacement, Recovery, and Regeneration from all over the world. We take this time also to express our gratitude to our authors for providing their work to this journal. We offer our very special thanks to our reviewers who give so generously of their time and expertise to review, critique, and especially provide meaningful suggestions to the author's work whether eventually accepted or rejected. Without these excellent and dedicated reviewers, the quality expected from such a journal could not be possible. We also express our special thanks to our Publisher, John Wiley & Sons for their expert attention and support in the production and marketing of Artificial Organs. We look forward to reporting further advances in the coming years.

Vibrotactile Spatial Acuity and Intensity Discrimination on the Lower Back Using Coin Motors

Tactile vision substitution devices are assistive devices for the blind that redirect visual information to the skin. The amount of visual information that can be presented on a tactile display is limited mainly by the spatial resolution of the skin and the ability to distinguish between various vibration intensities. In this study, we have determined the two-point discrimination (TPD) threshold and intensity-discrimination threshold (just-noticeable difference, or JND) on the lower back using coin motors. Given the importance of stimulus timing, we have determined TPD threshold and JND at different stimulus onset asynchronies (SOAs). The JND was determined between two coin motors with a distance equal to the TPD threshold. In this way, we could establish the contrast sensitivity at the maximal theoretical resolution. TPD thresholds tended to decrease at longer SOAs, from 52 mm edge-to-edge at an SOA of 0 ms, to 28 mm at 200 ms. The JND did not depend on SOA, and the average Weber fraction was 0.14. A median of 5 JNDs was available across the available dynamic range. Together, these data provide the predicted spatial resolution and contrast resolution achievable with a back-worn tactile display based on coin motors.