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Artificial palpation in robotic surgery using haptic feedback.

Ahmad Abiri1,2, Yen-Yi Juo3, Anna Tao4

  • 1Center for Advanced Surgical and Interventional Technology (CASIT), UCLA, Los Angeles, CA, USA. aabiri@ucla.edu.

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|September 7, 2018
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Summary

This study developed a vibrotactile system to restore tactile feedback in robotic surgery. The system significantly improved surgeons' ability to locate structures during simulated palpation tasks.

Keywords:
Haptic feedbackHapticsMinimally invasive surgeryRobotic palpationRobotic surgeryVibrotactile feedback

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Area of Science:

  • Robotics
  • Surgical Technology
  • Haptics

Background:

  • Minimally invasive robotic surgery lacks tactile feedback, hindering tissue characterization.
  • Visual cues alone are insufficient for accurate palpation during surgery.
  • This study addresses the challenge of restoring haptic feedback in robotic surgery.

Purpose of the Study:

  • To evaluate a bimodal vibrotactile system for simulating haptic feedback.
  • To assess the system's effectiveness in conveying applied forces during artificial palpation.
  • To compare multi-modal feedback with traditional single-modality feedback.

Main Methods:

  • Two studies simulated artificial palpation tasks using the da Vinci surgical robot.
  • Subjects localized embedded vessels and tumor-like structures in tissue phantoms.
  • Performance was evaluated under conditions of no feedback, tactile feedback, and hybrid vibrotactile feedback.

Main Results:

  • Vibrotactile and pneumatic feedback significantly improved correct localization of vessels (p<0.0001) and tumors (p<0.00003).
  • The hybrid vibrotactile system demonstrated superior performance compared to no feedback.
  • Both single-sensor and three-sensor array configurations showed improvements with vibrotactile feedback.

Conclusions:

  • Multi-modal feedback offers superior benefits over single-modality feedback in robotic surgery.
  • Vibration is effective for providing haptic feedback in artificial palpation systems.
  • The developed vibrotactile system enhances surgical precision and safety.