Haptic feedback in robot-assisted minimally invasive surgery

被引:435
作者
Okamura, Allison M. [1 ]
机构
[1] Johns Hopkins Univ, Dept Mech Engn, Lab Computat Sensing & Robot, Baltimore, MD 21218 USA
基金
美国国家卫生研究院; 美国国家科学基金会;
关键词
force; haptics; minimally invasive surgery; robotics; tactile; SUTURE-MANIPULATION FORCES; IT-YOURSELF HAPTICS; EXPERIENCE; BENEFIT; SENSOR; SYSTEM;
D O I
10.1097/MOU.0b013e32831a478c
中图分类号
R5 [内科学]; R69 [泌尿科学(泌尿生殖系疾病)];
学科分类号
1002 ; 100201 ;
摘要
Purpose of review Robot-assisted minimally invasive surgery (RMIS) holds great promise for improving the accuracy and dexterity of a surgeon and minimizing trauma to the patient. However, widespread clinical success with RMIS has been marginal. It is hypothesized that the lack of haptic (force and tactile) feedback presented to the surgeon is a limiting factor. This review explains the technical challenges of creating haptic feedback for robot-assisted surgery and provides recent results that evaluate the effectiveness of haptic feedback in mock surgical tasks. Recent findings Haptic feedback systems for RMIS are still under development and evaluation. Most provide only force feedback, with limited fidelity. The major challenge at this time is sensing forces applied to the patient. A few tactile feedback systems for RMIS have been created, but their practicality for clinical implementation needs to be shown. It is particularly difficult to sense and display spatially distributed tactile information. The cost-benefit ratio for haptic feedback in RMIS has not been established. Summary The designs of existing commercial RMIS systems are not conducive for force feedback, and creative solutions are needed to create compelling tactile feedback systems. Surgeons, engineers, and neuroscientists should work together to develop effective solutions for haptic feedback in RMIS.
引用
收藏
页码:102 / 107
页数:6
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