Application of Haptic Feedback to Robotic Surgery

作者：Brian T. Bethea, Allison M. Okamura, Masaya Kitagawa, Torin P. Fitton, Stephen M. Cattaneo, Vincent L. Gott, William A. Baumgartner, David D. Yuh · 发表于：Journal of Laparoendoscopic & Advanced Surgical Techniques · 年份：2004 · DOI：10.1089/1092642041255441 · 被引用次数：251 · 研究领域：Soft Robotics and Applications、Surgical Simulation and Training、Anatomy and Medical Technology

Robotic surgical systems have greatly contributed to the advancement of minimally invasive endoscopic surgery. However, current robotic systems do not provide tactile or haptic feedback to the operating surgeon. Under certain circumstances, particularly with the manipulation of delicate tissues and suture materials, this may prove to be a significant irritation. We hypothesize that haptic feedback, in the form of sensory substitution, facilitates the performance of surgical knot tying. This preliminary study describes evidence that visual sensory substitution permits the surgeon to apply more consistent, precise, and greater tensions to fine suture materials without breakage during robot-assisted knot tying.