Pneumatic balloon actuators for tactile feedback in robotic surgery

Purpose - Robotic surgery is limited by the lack of haptic feedback to the surgeon. The addition of tactile information may enable surgeons to feel tissue characteristics, appropriately tension sutures, and identify pathologic conditions. Tactile feedback may also enable expansion of minimally invasive surgery to other surgical procedures and decrease the learning curve associated with robotic surgery. This paper aims to explore a system to provide tactile feedback. Design/methodology/approach - A pneumatic balloon-based system has been developed to provide tactile feedback to the fingers of the surgeon during robotic surgery. The system features a polydimethyl siloxane actuator with a thin-film silicone balloon membrane and a compact pneumatic control system. The 1.0 x 1.8 x 0.4 cm actuators designed for the da Vinci system feature a 3 x 2 array of 3 mm inflatable balloons. Findings - The low-profile pneumatic system and actuator have been mounted directly onto the da Vinci surgical system. Human perceptual tests have indicated that pneumatic balloon-based tactile input is an effective means to provide tactile information to the fingers of the surgeon. Research limitations/implications - Application of a complete tactile feedback system is limited by current force sensing technologies. Originality/value - The actuators have been designed such that they can be mounted directly onto the hand controls of the da Vinci robotic system, and are scalable such that they can be applied to various robotic applications.