An experimental study about haptic feedback in robotic surgery: may visual feedback substitute tactile feedback?

Meccariello, Giuseppe; Faedi, Federico; Alghamdi, Saleh; Montevecchi, Filippo; Firinu, Elisabetta; Zanotti, Claudia; Cavaliere, Davide; Gunelli, Roberta; Taurchini, Marco; Amadori, Andrea; Vicini, Claudio

doi:10.1007/s11701-015-0541-0

Cited by 71 publications

(36 citation statements)

References 12 publications

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“…TORS operations had a lower PMR than TLM procedures (17.4% vs. 20.0% for TLM), although open operations had the lowest (13.8%). The reduced tactile feedback of TORS may prevent head and neck surgeons from using their sense of touch to achieve negative margins and may explain the higher PMR in TORS relative to open operations of the larynx . The higher positive margin rate in TLM operations as compared to TORS is potentially due to the technical advantages of TORS over TLM.…”

Section: Discussionmentioning

confidence: 99%

Is robotic surgery an option for early T‐stage laryngeal cancer? Early nationwide results

et al. 2019

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Objectives/Hypothesis: To characterize patients undergoing laryngeal transoral robotic surgery (TORS) and compare to open partial surgery and transoral laser microsurgery (TLM) in achieving negative margins, requiring adjuvant radiation, and overall survival. Study Design: Retrospective database analysis. Methods: Early-stage (T1/2) laryngeal squamous cell carcinoma patients from the National Cancer Database. Univariable and multivariable logistic and Cox regressions were used to identify predictors. Results: There were 1,780 patients included in the study (186 [10.4%] = TORS; 523 [29.4%] = open surgery; 1,071 [60.2%] = TLM). TORS was more commonly treated at academic centers (68.8% = open surgery, 53.9% = TLM, 71.0% = TORS; P < .001) and had more T2 (52.7% = TORS, 46.7% = open surgery, 20.5% = TLM; P < .001) and N-positive disease (26.9% = TORS, 19.5% = open surgery, 5.5% = TLM; P < .001). Surgical approach was significantly associated with margin status (positive margin rates: TORS = 17.4%, TLM = 20.0%, open surgery = 13.8%) between open surgery and TLM in multivariable analysis (compared to open surgery, TLM: 1.63 [1.12-2.38], TORS: 1.18 [0.72-1.94]; P = .04). Surgical approach was not associated with receipt of adjuvant radiation (compared to open surgery, TLM: 1.52 [1.04-2.24], TORS: 1.56 [0.97-2.49]; P = .05). It was not associated with margins or adjuvant radiation in supraglottic patients. TORS had the highest 5-year overall survival, although the survival for TLM was similar (68.7% and 64.8%, respectively), and both were higher than that of open surgery (59.1%; P = .01). In multivariable Cox regression for supraglottic patients, there was no observed difference between TORS and open surgery (compared to TORS, open surgery: 1.44 [0.93-2.24]; P = .25). Conclusions: On multivariable analysis, there was no observed difference in margin status in TORS patients compared to TLM and open surgery (in both the total cohort and supraglottic subgroup). Similarly there was no observed difference in necessitating adjuvant radiation. In Cox regression, there was no observed difference between TORS and open surgery in overall survival for supraglottic patients. This study suggests that TORS may be a viable treatment option for early-stage laryngeal cancer.

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Section: Discussionmentioning

confidence: 99%

Is robotic surgery an option for early T‐stage laryngeal cancer? Early nationwide results

et al. 2019

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“…Studies such as [86] have demonstrated that expert surgeons could obtain significantly higher scores in experiments, than those of the non-experts. It is common to perform experimentation using participants with little/no surgical experience.…”

Section: Performance Metricsmentioning

confidence: 99%

Haptics in Robot-Assisted Surgery: Challenges and Benefits

Enayati

Momi

Ferrigno

2016

IEEE Rev. Biomed. Eng.

202

131

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Abstract-Robotic surgery is transforming the current surgical practice, not only by improving the conventional surgical methods but also by introducing innovative robot-enhanced approaches that broaden the capabilities of clinicians. Being mainly of manmachine collaborative type, surgical robots are seen as media that transfer pre-and intra-operative information to the operator and reproduce his/her motion, with appropriate filtering, scaling, or limitation, to physically interact with the patient. The field, however, is far from maturity and, more critically, is still a subject of controversy in medical communities. Limited or absent haptic feedback is reputed to be among reasons that impede further spread of surgical robots. In this paper objectives and challenges of deploying haptic technologies in surgical robotics is discussed and a systematic review is performed on works that have studied the effects of providing haptic information to the users in major branches of robotic surgery. It has been tried to encompass both classical works and the state of the art approaches, aiming at delivering a comprehensive and balanced survey both for researchers starting their work in this field and for the experts.

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“…This is because it has been demonstrated that the lack of this feature causes: (1) an increase in errors during the procedure (see e.g. [40,60,72]), (2) an increase in mental workload, which can complicate the task at hand and lead to irreversible damages (see e.g. [36,70]), (3) an increase in task-completion time (see e.g.…”

Section: Introductionmentioning

confidence: 99%

Sensory Substitution for Force Feedback Recovery

Avilés-Rivero

Alsaleh

Philbeck

et al. 2018

ACM Trans. Appl. Percept.

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Robotic Assisted Surgeries are commonly used nowadays as a more efficient alternative to traditional surgical options. Both surgeons and patients benefit from those systems as they offer many advantages, including less trauma and blood loss, fewer complications, and better ergonomics. However, a remaining limitation of currently available surgical systems is the lack of force feedback due to the teleoperation setting, which prevents direct interaction with the patient. Once the force information is obtained by either a sensing device or indirectly through vision-based force estimation, a concern arises on how to transmit this information to the surgeon. An attractive alternative is sensory substitution, which allows transcoding information from one sensory modality to present it in a different sensory modality. In the current work, we used visual feedback to convey interaction forces to the surgeon. Our overarching goal was to address the question How should interaction forces be displayed to support efficient comprehension by the surgeon, without interfering with the surgeon's perception and workflow during surgery? Until now, the use the visual modality for force feedback has not been carefully evaluated. For this reason, we conducted an experimental study with two aims: (1) to demonstrate the potential benefits of using this modality and (2) to understand the surgeons' perceptual preferences. The results derived from our study of 28 surgeons revealed a strong positive acceptance of the users (96%) using this modality. Moreover, we found that in order for surgeons to easily interpret the information, their mental model must be considered, meaning that, the design of the visualizations should fit the perceptual and cognitive abilities of the end user. To our knowledge, this is the first time that these principles are analyzed for exploring sensory substitution in medical robotics. Finally, we provide user-centered recommendations for the design of visual displays for robotic surgical systems.

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An experimental study about haptic feedback in robotic surgery: may visual feedback substitute tactile feedback?

Cited by 71 publications

References 12 publications

Is robotic surgery an option for early T‐stage laryngeal cancer? Early nationwide results

Is robotic surgery an option for early T‐stage laryngeal cancer? Early nationwide results

Haptics in Robot-Assisted Surgery: Challenges and Benefits

Sensory Substitution for Force Feedback Recovery

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