Artificial palpation in robotic surgery using haptic feedback

Abiri, Ahmad; Juo, Yen-Yi; Tao, Anna; Askari, Syed J.; Pensa, Jake; Bisley, James W.; Dutson, Erik; Grundfest, Warren S.

doi:10.1007/s00464-018-6405-8

Cited by 43 publications

(23 citation statements)

References 30 publications

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“…An important determinant of the future of robotic cardiac surgery will be the development of new technical innovations, such as other robotic platforms, new instruments and new devices (anastomotic connectors, knot tying tools…). An example is the addition of tactile feedback to the robotic system, which is required for various tasks such as tissue retraction, dissection, and manipulation [ 9 ] . As most of the learning curve is currently spent on compensating for the absence of tactile feedback via visual clues, such vibrotactile systems might make the acquisition of robotic surgical skills faster.…”

Section: Researchmentioning

confidence: 99%

Robotic Cardiac Surgery: What the Young Surgeon Should Know

Eynde¹,

Melly

Torregrossa

et al. 2020

Braz J Cardiovasc Surg

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Section: Researchmentioning

confidence: 99%

Robotic Cardiac Surgery: What the Young Surgeon Should Know

Eynde¹,

Melly

Torregrossa

et al. 2020

Braz J Cardiovasc Surg

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“…Lack of tactile feedback may prolong operative times, increase risk of surgical errors, and steepen the learning curve for trainees 7,8. To address these limitations, there has been interest in the development of surgical robotic systems that can provide haptic feedback to the surgeon 9–14…”

Section: Introductionmentioning

confidence: 99%

The Effect of Haptic Feedback on Efficiency and Safety During Preretinal Membrane Peeling Simulation

Francone

Huang

et al. 2019

Trans. Vis. Sci. Tech.

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Purpose We determine whether haptic feedback improves surgical performance and outcome during simulated a preretinal membrane peeling procedure. Methods A haptic-enabled virtual reality preretinal membrane peeling simulator was developed using a surgical cockpit with two multifinger haptic devices. Six subjects (three trained retina surgeons and three nonsurgeons) performed the preretinal membrane peeling surgical procedure using two modes of operation: visual and haptic feedback, and visual feedback only. Results Task completion time, tool tip path trajectory, tool–retina collision force, and retinal damage were all reduced with haptic feedback used and compared to modes where haptic feedback was disabled. Conclusions Haptic feedback improves efficiency and safety during preretinal membrane peeling simulation. Translational Relevance These findings highlight the potential benefit of haptic feedback for improving performance and safety of vitreoretinal surgery.

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“…Feedback in robotic surgery training and robot-assisted minimally invasive surgical operations is essential for effective learning of operative skills (McKendy et al, 2017). Feedback allows surgeons to safely maneuver and manipulate surgical tools, including robots, during surgical operations (Abiri et al, 2018; Miyazaki et al, 2019).…”

Section: Introductionmentioning

confidence: 99%

“…That depends, in part, on the task type (Burke et al, 2006), individual preferences (Koehn and Kuchenbecker, 2015), individual differences (Park et al, 2012), and context (van Huysduynen et al, 2016; Adebiyi et al, 2017). In the surgical robotics domain, surgeons have been found to better characterize tissue via palpation in multi-modal (visual + haptic) feedback than in a single modality (haptic) feedback (Abiri et al, 2018). Furthermore, haptic feedback has been found to reduce the effects of visual-perceptual mismatches (Abiri et al, 2017).…”

Section: Introductionmentioning

confidence: 99%

Neural Efficiency of Human–Robotic Feedback Modalities Under Stress Differs With Gender

Nuamah

Mantooth

Karthikeyan

et al. 2019

Front. Hum. Neurosci.

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Sensory feedback, which can be presented in different modalities -single and combined, aids task performance in human-robotic interaction (HRI). However, combining feedback modalities does not always lead to optimal performance. Indeed, it is not known how feedback modalities affect operator performance under stress. Furthermore, there is limited information on how feedback affects neural processes differently for males and females and under stress. This is a critical gap in the literature, particularly in the domain of surgical robotics, where surgeons are under challenging socio-technical environments that burden them physiologically. In the present study, we posited operator performance as the summation of task performance and neurophysiological cost of maintaining that performance. In a within-subject design, we used functional near-infrared spectroscopy to assess cerebral activations of 12 participants who underwent a 3D manipulation task within a virtual environment with concurrent feedback (visual and visual + haptic) in the presence and absence of a cognitive stressor. Cognitive stress was induced with the serial-7 subtraction test. We found that while task performance was higher with visual than visual + haptic feedback, it degraded under stress. The two feedback modalities were found to be associated with varying neural activities and neural efficiencies, and these were stress-and genderdependent. Our findings engender further investigation into effectiveness of feedback modalities on males and females under stressful conditions in HRI.

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Artificial palpation in robotic surgery using haptic feedback

Abstract: This work demonstrates not only the superior benefits of a multi-modal feedback over traditional single-modality feedback, but also the effectiveness of vibration in providing haptic feedback to artificial palpation systems.

Cited by 43 publications

References 30 publications

Robotic Cardiac Surgery: What the Young Surgeon Should Know

Robotic Cardiac Surgery: What the Young Surgeon Should Know

The Effect of Haptic Feedback on Efficiency and Safety During Preretinal Membrane Peeling Simulation

Neural Efficiency of Human–Robotic Feedback Modalities Under Stress Differs With Gender

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