Haptic feedback in the da Vinci Research Kit (dVRK): A user study based on grasping, palpation, and incision tasks.
Journal
The international journal of medical robotics + computer assisted surgery : MRCAS
ISSN: 1478-596X
Titre abrégé: Int J Med Robot
Pays: England
ID NLM: 101250764
Informations de publication
Date de publication:
Aug 2019
Aug 2019
Historique:
received:
26
11
2018
revised:
24
02
2019
accepted:
04
04
2019
pubmed:
11
4
2019
medline:
7
1
2020
entrez:
11
4
2019
Statut:
ppublish
Résumé
It was suggested that the lack of haptic feedback, formerly considered a limitation for the da Vinci robotic system, does not affect robotic surgeons because of training and compensation based on visual feedback. However, conclusive studies are still missing, and the interest in force reflection is rising again. We integrated a seven-DoF master into the da Vinci Research Kit. We designed tissue grasping, palpation, and incision tasks with robotic surgeons, to be performed by three groups of users (expert surgeons, medical residents, and nonsurgeons, five users/group), either with or without haptic feedback. Task-specific quantitative metrics and a questionnaire were used for assessment. Force reflection made a statistically significant difference for both palpation (improved inclusion detection rate) and incision (decreased tissue damage). Haptic feedback can improve key surgical outcomes for tasks requiring a pronounced cognitive burden for the surgeon, to be possibly negotiated with longer completion times.
Sections du résumé
BACKGROUND
BACKGROUND
It was suggested that the lack of haptic feedback, formerly considered a limitation for the da Vinci robotic system, does not affect robotic surgeons because of training and compensation based on visual feedback. However, conclusive studies are still missing, and the interest in force reflection is rising again.
METHODS
METHODS
We integrated a seven-DoF master into the da Vinci Research Kit. We designed tissue grasping, palpation, and incision tasks with robotic surgeons, to be performed by three groups of users (expert surgeons, medical residents, and nonsurgeons, five users/group), either with or without haptic feedback. Task-specific quantitative metrics and a questionnaire were used for assessment.
RESULTS
RESULTS
Force reflection made a statistically significant difference for both palpation (improved inclusion detection rate) and incision (decreased tissue damage).
CONCLUSIONS
CONCLUSIONS
Haptic feedback can improve key surgical outcomes for tasks requiring a pronounced cognitive burden for the surgeon, to be possibly negotiated with longer completion times.
Types de publication
Journal Article
Langues
eng
Sous-ensembles de citation
IM
Pagination
e1999Subventions
Organisme : Regione Toscana
Informations de copyright
© 2019 John Wiley & Sons, Ltd.