Skip to main page content
U.S. flag

An official website of the United States government

Dot gov

The .gov means it’s official.
Federal government websites often end in .gov or .mil. Before sharing sensitive information, make sure you’re on a federal government site.

Https

The site is secure.
The https:// ensures that you are connecting to the official website and that any information you provide is encrypted and transmitted securely.

Access keys NCBI Homepage MyNCBI Homepage Main Content Main Navigation
. 2004 Dec;31(6):499-508.
doi: 10.1108/01439910410566362.

Methods for haptic feedback in teleoperated robot-assisted surgery

A M Okamura  1
Affiliations

Methods for haptic feedback in teleoperated robot-assisted surgery

A M Okamura. Ind Rob. 2004 Dec.

Abstract

Teleoperated minimally invasive surgical robots can significantly enhance a surgeon's accuracy, dexterity and visualization. However, current commercially available systems do not include significant haptic (force and tactile) feedback to the operator. This paper describes experiments to characterize this problem, as well as several methods to provide haptic feedback in order to improve surgeon's performance. There exist a variety of sensing and control methods that enable haptic feedback, although a number of practical considerations, e.g. cost, complexity and biocompatibility, present significant challenges. The ability of teleoperated robot-assisted surgical systems to measure and display haptic information leads to a number of additional exciting clinical and scientific opportunities, such as active operator assistance through "virtual fixtures" and the automatic acquisition of tissue properties.

PubMed Disclaimer

Figures

Figure 1
Figure 1
The da Vinci Surgical system Notes: (a) Operating room setup with surgeon seated at the control console. The patient side manipulator consists of two manipulations arms and one camera arm. (b) The surgeon’s console with three-dimensional endoscopic viewer and hand controls. Images used with permission from Intuitive Surgical, Inc.
Figure 2
Figure 2
Suture tension was measured to determine the forces applied to various sutures: (a) by hand; (b) by instrument; and (c) using the da Vinci robot
Figure 3
Figure 3
Data summary for a single subject (attending surgeon, left hand). The forces applied to various sutures change with suture strength
Figure 4
Figure 4
The body cavity and possible forces applied to the surgical tool
Figure 5
Figure 5
(a) A blunt dissection task performed with a missing degree of freedom of force feedback along the tool axis. (b) An artery extraction task performed with a missing gripper force feedback
Figure 6
Figure 6
(a) An image of visual feedback observed by the surgeon through the da Vinci console, as used in the experiments. (b) Strain gages applied directly to da Vinci surgical instruments. (c) In ongoing work, we dynamically overlay the stereoimage with force information over the instruments for a more intuitive visualization
Figure 7
Figure 7
Comparing the coefficient of variance of various feedback methods to that of the hand data. The error bar corresponds to the critical difference for Dunnett’s multiple range test
See this image and copyright information in PMC

References

    1. Abbott, J.J. and Okamura, A.M. (2003), “Virtual fixture architectures for telemanipulation”, Proceedings of the IEEE International Conference on Robotics and Automation, Taipei, September 2003, pp. 2798–805.
    1. Abbott, J.J., Hager, G.D. and Okamura, A.M. (2003), “Steady-hand teleoperation with virtual fixtures”, paper presented at the 12th IEEE International Workshop on Robot and Human Interactive Communication (RO-MAN), San Francisco, CA, November 2003, pp. 145–51.
    1. Barbagli, F. and Salisbury, K. (2003), “The effect of sensor/actuator asymmetries in haptic interfaces”, Proceedings of the 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Los Angeles, CA, March 2003, pp. 140–7.
    1. Bethea BT, et al. “Application of haptic feedback to robotic surgery”. Journal of Laparoendoscopic and Advanced Surgical Techniques. 2004;14(3):191–5. - PMC - PubMed
    1. Colgate JE. “Robust impedance shaping telemanipulation”. IEEE Transactions on Robotics and Automation. 1993;9:374–84.

LinkOut - more resources