000151664 001__ 151664
000151664 005__ 20190331192642.0
000151664 0247_ $$2doi$$a10.1080/11762322.2010.503110
000151664 022__ $$a1176-2322
000151664 037__ $$aARTICLE
000151664 245__ $$aInfluence of force and torque feedback on operator performance in a VR-based suturing task
000151664 269__ $$a2010
000151664 260__ $$bTaylor & Francis$$c2010
000151664 336__ $$aJournal Articles
000151664 520__ $$aThe introduction of Minimally Invasive Surgery (MIS) has revolutionised surgical care, considerably improving the quality of many surgical procedures. Technological advances, particularly in robotic surgery systems, have reduced the complexity of such an approach, paving the way for even less invasive surgical trends. However, the fact that haptic feedback has been progressively lost through this transition is an issue that to date has not been solved. Whereas traditional open surgery provides full haptic feedback, the introduction of MIS has eliminated the possibility of direct palpation and tactile exploration. Nevertheless, these procedures still provide a certain amount of force feedback through the rigid laparoscopic tool. Many of the current telemanipulated robotic surgical systems in return do not provide full haptic feedback, which to a certain extent can be explained by the requirement of force sensors integrated into the tools of the slave robot and actuators in the surgeon's master console. In view of the increased complexity and cost, the benefit of haptic feedback is open to dispute. Nevertheless, studies have shown the importance of haptic feedback, especially when visual feedback is unreliable or absent. In order to explore the importance of haptic feedback for the surgeon's master console of a novel teleoperated robotic surgical system, we have identified a typical surgical task where performance could potentially be improved by haptic feedback, and investigate performance with and without this feedback. Two rounds of experiments are performed with 10 subjects, six of them with a medical background. Results show that feedback conditions, including force feedback, significantly improve task performance independently of the operator's suturing experience. There is, however, no further significant improvement when torque feedback is added. Consequently, it is deduced that force feedback in translations improves subject's dexterity, while torque feedback might not further benefit such a task.
000151664 6531_ $$ahaptics
000151664 6531_ $$asurgical robotics
000151664 6531_ $$atorque feedback
000151664 6531_ $$apsycophysics
000151664 6531_ $$asuture accuracy
000151664 700__ $$0242146$$g183566$$aSantos-Carreras, Laura
000151664 700__ $$0242154$$g183554$$aBeira, Ricardo
000151664 700__ $$0242148$$g188789$$aSengül, Ali
000151664 700__ $$aGassert, Roger$$g113795$$0240025
000151664 700__ $$aBleuler, Hannes$$g104561$$0240027
000151664 773__ $$j7$$tApplied Bionics and Biomechanics$$k3$$q217-230
000151664 8564_ $$uhttp://www.informaworld.com/smpp/content~db=all~content=a926631649~frm=titlelink$$zURL
000151664 8564_ $$uhttps://infoscience.epfl.ch/record/151664/files/Abbi%20paper.pdf$$zn/a$$s1788690$$yPreprint
000151664 909C0 $$0252016$$pLSRO
000151664 909CO $$particle$$ooai:infoscience.tind.io:151664$$qGLOBAL_SET$$pSTI
000151664 917Z8 $$x183566
000151664 917Z8 $$x183566
000151664 917Z8 $$x183566
000151664 937__ $$aEPFL-ARTICLE-151664
000151664 973__ $$rREVIEWED$$sPUBLISHED$$aEPFL
000151664 980__ $$aARTICLE