The BioRobotics Institute, Scuola Superiore Sant'Anna, Pontedera, Italy.
Center for Micro-BioRobotics, Istituto Italiano di Tecnologia, Pontedera, Italy.
Int J Med Robot. 2019 Aug;15(4):e1999. doi: 10.1002/rcs.1999. Epub 2019 May 16.
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.
有人认为，由于达芬奇机器人系统的培训和基于视觉反馈的补偿，触觉反馈的缺乏不再是其限制因素。然而，目前仍缺乏确凿的研究，而且人们对力反馈的兴趣再次升温。
我们将一个七自由度主手集成到了达芬奇研究套件中。我们与机器人外科医生一起设计了组织抓取、触诊和切割任务，让三组用户（专家外科医生、住院医师和非外科医生，每组 5 人）在有或没有触觉反馈的情况下完成。我们使用特定于任务的定量指标和问卷进行评估。
力反馈在触诊（提高了包含检测率）和切割（减少组织损伤）方面均有显著差异。
触觉反馈可以提高需要外科医生付出明显认知努力的任务的关键手术结果，并且可能需要更长的完成时间来进行协商。
