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. 2004 Jun;14(3):191-5.
doi: 10.1089/1092642041255441.

Application of haptic feedback to robotic surgery

Brian T Bethea  1 , Allison M Okamura, Masaya Kitagawa, Torin P Fitton, Stephen M Cattaneo, Vincent L Gott, William A Baumgartner, David D Yuh
Affiliations

Application of haptic feedback to robotic surgery

Brian T Bethea et al. J Laparoendosc Adv Surg Tech A. 2004 Jun.

Abstract

Robotic surgical systems have greatly contributed to the advancement of minimally invasive endoscopic surgery. However, current robotic systems do not provide tactile or haptic feedback to the operating surgeon. Under certain circumstances, particularly with the manipulation of delicate tissues and suture materials, this may prove to be a significant irritation. We hypothesize that haptic feedback, in the form of sensory substitution, facilitates the performance of surgical knot tying. This preliminary study describes evidence that visual sensory substitution permits the surgeon to apply more consistent, precise, and greater tensions to fine suture materials without breakage during robot-assisted knot tying.

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Figures

FIG. 1
FIG. 1
This tension measuring device was developed to measure the forces A: applied to sutures by hand and B: using the da Vinci robot.
FIG. 2
FIG. 2
Force feedback via sensory substitution. A visual color bar scale was developed to render applied suture tensions to the operating surgeon (top). The applied tension as a function of time is displayed in the graph at the bottom.
See this image and copyright information in PMC

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