Evaluation of Haptic Feedback on Bimanually Teleoperated Laparoscopy for Endometriosis Surgery

IEEE Transactions on Bio-medical Engineering
Sergio Portoles DiezEmmanuel B Vander Poorten

Abstract

Robotic minimal invasive surgery is gaining acceptance in surgical care. In contrast with the appreciated three-dimensional vision and enhanced dexterity, haptic feedback is not offered. For this reason, robotics is not considered beneficial for delicate interventions such as the endometriosis. Overall, haptic feedback remains debatable and yet unproven except for some simple scenarios such as fundamentals of laparoscopic surgery exercises. This work investigates the benefits of haptic feedback on more complex surgical gestures, manipulating delicate tissue through coordination between multiple instruments. A new training exercise, "endometriosis surgery exercise" (ESE) has been devised approximating the setting for monocular robotic endometriosis treatment. A bimanual bilateral teleoperation setup was designed for laparoscopic laser surgery. Haptic guidance and haptic feedback are, respectively, offered to the operator. User experiments have been conducted to assess the validity of ESE and examine possible advantages of haptic technology during execution of bimanual surgery. Content and face validity of ESE were established by participating surgeons. Surgeons suggested ESE also as a mean to train lasering skills, and interacti...Continue Reading

Citations

Apr 23, 2021·The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS·Siyang ZuoBaojun Chen

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BETA
dissection
force measurement

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OROCOS
PHANToM
GNU
Linux
LoTESS
MIRO

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