Even the most sophisticated robots are not known for being 'touchy feely,' but industry and academia are teaming up to improve the robotic sense of touch for surgical applications.

A $750,000 research project, a joint effort between research organization Canadian Surgical Technology & Advanced Robotics(C-STAR), Ontario Centres of Excellence(OCE)and Quanser Inc., will build upon Quanser's work in haptics(applying touch sensation and control to interaction with computer applications) and advanced robotic technology.

A leader in the field of haptics, Markham, Ont.-based Quanser has previously integrated its expertise and equipment into medical training simulators and surgical robotic prototypes.

"We're designing robotic tools to enhance surgical capabilities, allowing the surgeon to transcend the limitations of conventional technology and work in a less invasive environment," explains Quanser CEO Paul Gilbert. "As we continue to make advancements, we will see a widening in the range of surgical procedures for which robotically assisted surgery is suited...from brain microsurgery to surgery over long distances."

Founded in 1990, Quanser's 32-member team specializes in the development of advanced control systems for industry and research. The company's product lineup includes advancements in unmanned aerial vehicle(UAV) technology for military applications; the Freehand Script Reproduction Robot at the heart of LongPen, Margaret Atwood's long-distance autographing device; and medical innovations such as the Linear Amplifier used in Alcon's laser-vision treatment system, LADRVision System.

A steady hand
In Canada, laproscopic procedures used in bladder operations, kidney operations and hysterectomies are already being done using surgical robots. Far less invasive than traditional methods, surgeons manipulate precise tools under the skin inserted through small(one-centimetre) incisions. Precise robotic tools act as a surgeon's arms, hands and fingers with greater reach, accuracy and effectiveness. The benefits are many: less trauma, pain and blood loss; fewer complications; minimal scarring; faster recovery times and shorter hospital stays; and less strain on overburdened healthcare systems.

But the drawback has been the surgeon's loss of that all-important sense of touch. Haptic technology resolves this issue using complex mathematical computer models to convey realistic sensory feelings back to the surgeon. It allows the surgeon to check for calcification, to feel the 'pop' when a needle pokes through tissue, feel resistance when suturing and sense the forces the human hand would feel on a scalpel while making an incision.

The technology also eliminates natural tremors and prevents accidental movements from being transmitted to the robotic tools. Surgeons using haptics could even perform cardiac bypass operations without having to open up a patient's chest, thus reducing recovery time significantly.

Quanser's research partner C-STAR is a collaborative research and education program of London Health Sciences Centre, Lawson Health Research Institute, The University of Western Ontario and St. Joseph's Health Care in London, Ont.

Dr. Rajni Patel, C-STAR's director of engineering is leading the project, which will take place at the C-STAR laboratory. "What we're trying to do is set up and test various methodologies and technologies for incorporating haptics into surgical robots," explains Patel.

C-STAR has set up a test bed with a couple of robots and imaging systems that allow Patel and his team to open up the machines, take measurements and try out new architecture.

The project is supported by more than $500,000 in up-front cash investments, including $247,000 from OCE. Quanser's investment includes a financial contribution of almost $70,000 and engineering services, plus technical support worth approximately $230,000. An additional $150,000 is provided by the Natural Sciences and Engineering Research Council of Canada(NSERC) over three years. The funds are for partial support of graduate students, a research associate and to purchase or develop equipment needed for the project. NSERC supports university research through discovery grants and project research through partnerships among universities, governments and the private sector.

OCE's mandate is to drive the commercialization of cutting-edge research across key market sectors. It has partnered with Quanser on a number of projects in the past, and was quick to realize the potential and ready market for this technology. "Our purpose is to encourage this type of research for the economic benefit of Ontario," says Steve Colbert, manager of business development for the Centres of Excellence for Materials Manufacturing. "We received a grant from the Ministry of Research and Innovation and our mandate is to bridge the gap between colleges and universities and industry so we can encourage this type of innovation."

Industry applications
And once this joint venture wraps up, there will be no shortage of potential haptics projects for OCE to commercialize in other industry sectors. According to Gilbert there are many potential applications. "It's already being used in medical simulation and medical training and it's being considered for simulators for flying planes, driving merchant vessels and driving unmanned vehicles."

The technology is also ideal for work cell simulation. Manufacturers, for example, could use haptic technology to create a work cell for training purposes, ergonomic testing or even quality control. Training on a simulator would be safer for new employees and would prevent downtime on the shop floor. Plus, constructing a simulated work cell gives engineers an opportunity to test-drive a workstation before actually constructing it.

"I think the reason the commercial rather than manufacturing sector is embracing haptics is because there's more money and funding available for it," says Gilbert. "The [prototype] that we're providing to the university is in the $60,000 to $70,000 range. It's not cheap."

The project will take roughly 18 months to complete. "The first thing that's going to happen is that we're going to get together with Dr. Patel and work out how we can actually integrate the haptic devices into a specific robot that they have chosen," says Gilbert. "They have a very high-resolution robot, so we have to be able to talk to it."

Like any research project, a lot of what C-STAR and Quanser will be doing is based on trial and error. But once the technology is perfected, even the steadiest, caring hand of a surgeon will not be able to compete with the precision of a surgical robot that has a sense of touch.

Corinne Lynds
corinne.lynds@plant.rogers.com