Haptics in minimally invasive surgery – a review

Abstract

This article gives an overview of research performed in the field of haptic information feedback during minimally invasive surgery (MIS). Literature has been consulted from 1985 to present. The studies show that currently, haptic information feedback is rare, but promising, in MIS. Surgeons benefit from additional feedback about force information. When it comes to grasping forces and perceiving slip, little is known about the advantages additional haptic information can give to prevent tissue trauma during manipulation. Improvement of haptic perception through augmented haptic information feedback in MIS might be promising.

Effect of laparoscopic grasper force transmission ratio on grasp control

“…Kinesthetic feedback distortion can be attributed to the following disturbance factors: trocar friction, abdominal wall resistance, scaling factors, mechanical construction, and efficiency [1]. Of the three instruments used in this experiment, tweezers caused the least kinesthetic distortion.…”

“…Stiffness is important because it determines the magnitude of the force required by a surgeon for pulling and pinching to manipulate the tissue. Incorrect pinch force control causes tissue slippage, damage, or both [1].…”

“…The transmission of forces from the tip of the instrument to the handle is limited and significantly disturbed, depending on the type of grasper and the kind of manipulation action (e.g. trocar friction, abdominal wall resistance, scaling factors, mechanical construction, and efficiency) [1,[11][12][13][14][15].…”

Design of Class Components for Laparoscopy Surgery Simulation with Haptic Elements: A Case Study of SPLasH

“…Both of these situations can lead to tissue trauma. Frequent study towards this matter has been carried out and reported [27]- [30]. Device development to represent grasp virtually [31] also rising up.…”

“…Even though many research has been carried out recently on laparoscopy surgery skill training [4], [5], [8], technologies and modeling of tissues [25]- [27] and also development made for laparoscopy skill training [12], [14]- [16], [18], [21], [24], [28]- [30] but most of the application developed or experiment carried out focuses on task but none of it provide for a single and complete surgery procedure such as hernia repair, cyst remove and etc. Research in grasp control shown that surgeons perform better if suitable application that provide force feedback thus help them in improve their skill ability [28]- [30].…”