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Review
. 2009 Jan;19(1):102-7.
doi: 10.1097/MOU.0b013e32831a478c.

Haptic feedback in robot-assisted minimally invasive surgery

Allison M Okamura  1
Affiliations
Review

Haptic feedback in robot-assisted minimally invasive surgery

Allison M Okamura. Curr Opin Urol. 2009 Jan.

Abstract

Purpose of review: Robot-assisted minimally invasive surgery (RMIS) holds great promise for improving the accuracy and dexterity of a surgeon and minimizing trauma to the patient. However, widespread clinical success with RMIS has been marginal. It is hypothesized that the lack of haptic (force and tactile) feedback presented to the surgeon is a limiting factor. This review explains the technical challenges of creating haptic feedback for robot-assisted surgery and provides recent results that evaluate the effectiveness of haptic feedback in mock surgical tasks.

Recent findings: Haptic feedback systems for RMIS are still under development and evaluation. Most provide only force feedback, with limited fidelity. The major challenge at this time is sensing forces applied to the patient. A few tactile feedback systems for RMIS have been created, but their practicality for clinical implementation needs to be shown. It is particularly difficult to sense and display spatially distributed tactile information. The cost-benefit ratio for haptic feedback in RMIS has not been established.

Summary: The designs of existing commercial RMIS systems are not conducive for force feedback, and creative solutions are needed to create compelling tactile feedback systems. Surgeons, engineers, and neuroscientists should work together to develop effective solutions for haptic feedback in RMIS.

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Figures

Figure 1
Figure 1
The main components of a teleoperated robot for minimally invasive surgery with multimodal haptic feedback. Both force and tactile feedback are included in the model, and graphical display (one method of sensory substitution) is shown as a possible alternative to direct haptic feedback.
Figure 2
Figure 2
A robotic surgery system for two-hand manipulation with integrated force feedback and 3D vision, designed by researchers at DLR, Germany. The system consists of a specially designed dexterous force-sensing instrument, robotic arms and teleoperation controller, and haptic device commercially available from Force Dimension, Inc. (Lausanne, Switzerland) as the master manipulator. Original figures used with permission from B. Kuebler, DLR.
See this image and copyright information in PMC

References

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