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, 11 (3), 360-374

Role of Combined Tactile and Kinesthetic Feedback in Minimally Invasive Surgery

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Role of Combined Tactile and Kinesthetic Feedback in Minimally Invasive Surgery

Soo-Chul Lim et al. Int J Med Robot.

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 (1 N and 2 N). 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 1 N and 2 N 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. Copyright © 2014 John Wiley & Sons, Ltd.

Keywords: haptic feedback; haptic interface; kinesthetic feedback; minimally invasive surgery; sensory integration; shear force; surgical robot; tactile display; tactile feedback.

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