Skin-Stretch Haptic Feedback Augmentation Improves Performance in a Simulated Laparoscopic Palpation Task

Laparoscopic surgery brings substantial benefits to patients. However, it remains challenging for surgeons because of motion constraints and perception limitations. Notably, the perception of interactions with organs is largely compromised. This paper evaluates the effectiveness of a forearm-based skin-stretch haptic feedback system rendering surgical tool tip force. Twenty novice participants had to discern the stiffness of samples to investigate stiffness perception in a simulated laparoscopic task. The experimental protocol involved manipulating samples with three difficulty levels and testing three feedback conditions: no augmentation, visual feedback, and tactile feedback. The results demonstrate that feedback significantly enhances the success rate of laparoscopic palpation tasks. The proposed tactile feedback boosts confidence and task speed and reduces peak force and perceived workload. These benefits become even more pronounced when difficulty increases. These promising findings affirm the value of skin-stretch haptic feedback augmentation in improving performance for simulated laparoscopy tasks, paving the way for more integrated and deployable devices for the operating room.