Abstract
Background: Haptic feedback is of critical importance in surgical tasks. However, conventional surgical robots do not provide haptic feedback to surgeons during surgery. Thus, in this study, a combined tactile and kinesthetic feedback system was developed to provide haptic feedback to surgeons during robotic surgery. Methods: To assess haptic feasibility, the effects of two types of haptic feedback were examined empirically - kinesthetic and tactile feedback - to measure object-pulling force with a telesurgery robotics system at two desired pulling forces (1N and 2N). Participants answered a set of questionnaires after experiments. Results: The experimental results reveal reductions in force error (39.1% and 40.9%) when using haptic feedback during 1N and 2N pulling tasks. Moreover, survey analyses show the effectiveness of the haptic feedback during teleoperation. Conclusions: The combined tactile and kinesthetic feedback of the master device in robotic surgery improves the surgeon's ability to control the interaction force applied to the tissue.
| Original language | English |
|---|---|
| Pages (from-to) | 360-374 |
| Number of pages | 15 |
| Journal | International Journal of Medical Robotics and Computer Assisted Surgery |
| Volume | 11 |
| Issue number | 3 |
| DOIs | |
| State | Published - 1 Sep 2015 |
Keywords
- Haptic feedback
- Haptic interface
- Kinesthetic feedback
- Minimally invasive surgery
- Sensory integration
- Shear force
- Surgical robot
- Tactile display
- Tactile feedback