Evaluation of a pneumatic surgical robot with dynamic force feedback

Area of Science:

• Robotics
• Surgical Technology
• Human-Computer Interaction

Background:

• Robot-assisted surgery (RAS) currently lacks haptic feedback, potentially limiting precision and increasing procedure duration.
• Force scaling is a technique to modulate sensory feedback transmitted to the surgeon, aiming to mitigate RAS limitations.

Purpose of the Study:

• To investigate the impact of varying force scaling factors on forces exerted during simple and complex robotic surgery tasks.
• To evaluate the effects of force scaling on operating time, needle insertion depth, and user satisfaction.

Main Methods:

• Utilized the IBIS VI pneumatic surgical robot for experiments.
• Two novice male participants performed modified block transfer (simple) and needle insertion (complex) tasks.
• Force scaling factors of 0.0, 0.5, 1.0, and 2.0 were applied in a single-blind, randomized, repeated-measures design.

Main Results:

• Increasing force scaling factors significantly reduced forces exerted in both block transfer and needle insertion tasks.
• Intermediate scaling factors (0.5) shortened block transfer time, while needle insertion depth consistently decreased with higher scaling factors.
• User satisfaction was highest with intermediate scaling factors for block transfer, but showed no significant change for needle insertion.

Conclusions:

• Dynamic adjustment of force feedback through scaling factors can effectively reduce forces exerted in robotic surgery, particularly for precision-demanding tasks.
• Force scaling shows promise in improving operative outcomes, including reduced operating time and enhanced precision, and advancing surgical automation.
• Optimizing force scaling parameters may be crucial for maximizing benefits in different surgical scenarios and improving the overall user experience.