Improving Contact Realism through Event-Based Haptic Feedback
IEEE Transactions on Visualization and Computer Graphics
Visualization in Medicine: Theory, Algorithms, and Applications
Visualization in Medicine: Theory, Algorithms, and Applications
A Pragmatic Method for Stable Stiffness Reflection in Telesurgery
EuroHaptics '08 Proceedings of the 6th international conference on Haptics: Perception, Devices and Scenarios
Improving simulated borescope inspection with constrained camera motion and haptic feedback
Proceedings of Graphics Interface 2009
Design considerations and human-machine performance of moving virtual fixtures
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Intrinsic wrench estimation and its performance index for multisegment continuum robots
IEEE Transactions on Robotics
Teleoperation with sensor/actuator asymmetry: task performance with partial force feedback
HAPTICS'04 Proceedings of the 12th international conference on Haptic interfaces for virtual environment and teleoperator systems
Effects of force feedback and arm compliance on teleoperation for a hygiene task
EuroHaptics'10 Proceedings of the 2010 international conference on Haptics: generating and perceiving tangible sensations, Part I
Force adaptive multi-spectral imaging with an articulated robotic endoscope
MICCAI'10 Proceedings of the 13th international conference on Medical image computing and computer-assisted intervention: Part III
International Journal of Robotics Research
Improving the development of surgical skills with virtual fixtures in simulation
IPCAI'12 Proceedings of the Third international conference on Information Processing in Computer-Assisted Interventions
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Force feedback is widely assumed to enhance performance in robotic surgery, but its benefits have not yet been systematically assessed. In this study we examine the effects of force feedback on a blunt dissection task. Subjects used a telerobotic system to expose an artery in a synthetic model while viewing the operative site with a video laparoscope. Performance was compared between force feedback gains of 75% and 150% and no force feedback. The absence of force feedback increased the average force magnitude applied to the tissue by at least 50%, and increased the peak force magnitude by at least a factor of 2. The number of errors that damage tissue increased by over a factor 3. The rate and precision of dissection were not significantly enhanced with force feedback. We hypothesize that force feedback is helpful in this blunt dissection task because the artery is stiffer than the surrounding tissue. This mechanical contrast serves to constrain the subjects' hand from commanding inappropriate motions that generate large forces.