Haptic feedback in the da Vinci Research Kit (dVRK): A user study based on grasping, palpation, and incision tasks

Abstract

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 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 Force reflection made a statistically significant difference for both palpation (improved inclusion detection rate) and incision (decreased tissue damage). 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.

An Application-Based Review of Haptics Technology

“…The conducted tests showed evidence of reasonable accuracy in estimating the amount of force. In another work, the authors integrated a 7-DoF master device into the da Vinci Research Kit and conducted tissue grasping, palpation, and incision tasks using robot-assisted surgery by experienced surgeons, surgical residents, and non-surgeons [48]. Statistical analysis showed that haptic feedback improves key surgical outcomes for tasks requiring a pronounced cognitive burden for the surgeon; however, possible longer task completion times were observed.…”

Robotic coronary artery surgery: Outcomes and pitfalls

“…Thus, they admit that visual feedback may not be enough even for the most experienced of conventional CABG surgeons when using the da Vinci console. 42 Recent studies by Saracino et al 43 geons to anticipate and feel the suturing forces and therefore minimize unnecessary pressure on delicate tissues or vessels. 43 However,…”

“…Recent studies by Saracino et al 43 encourages the positive impact of adding haptic feedback sensors to the da Vinci console through the da Vinci Research Kit, especially in relation to making incisions, grasping and palpating tissue types. The integration of novel force sensors on the trocars should enable surgeons to anticipate and feel the suturing forces and therefore minimize unnecessary pressure on delicate tissues or vessels 43 . However, currently this has not been tested in CABG and in future could be an avenue to explore 44 , 45 , 46 …”

Haptic Intracorporeal Palpation Using a Cable-Driven Parallel Robot: A User Study

“…On the other hand, sensor-less approaches usually rely on direct force feedback [24,25,26]. In teleoperated systems, the slave robot is programmed to follow the master's motion as controlled by the human operator.…”

“…Sensor-less approaches, e.g. based on motor currents for wrench estimation, can foster seamless integration into clinically relevant surgical robotic platforms [26], yet they are intrinsically less accurate in force rendering than sensor-based ones.…”