Miller, Johanna ; Braun, Manuel ; Bilz, Johannes ; Matich, Sebastian ; Neupert, Carsten ; Kunert, Wolfgang ; Kirschniak, Andreas (2024)
Impact of haptic feedback on applied intracorporeal forces using a novel surgical robotic system - a randomized cross-over study with novices in an experimental setup.
In: Surgical Endoscopy, 2021, 35 (7)
doi: 10.26083/tuprints-00023874
Artikel, Zweitveröffentlichung, Verlagsversion
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Kurzbeschreibung (Abstract)
Background: Most currently used surgical robots have no force feedback; the next generation displays forces visually. A novel single-port robotic surgical system called FLEXMIN has been developed. Through an outer diameter of 38 mm, two instruments are teleoperated from a surgeon’s control console including true haptic force feedback. One additional channel incorporates a telescope, another is free for special instrument functions.
Methods: This randomized cross-over study analyzed the effect of haptic feedback on the application of intracorporeal forces. In a standardized experiment setup, the subjects had to draw circles with the surgical robot as gently as possible. The applied forces, the required time spans, and predefined error rates were measured.
Results: Without haptic feedback, the maximum forces (median/IQR) were 6.43 N/2.96 N. With haptic feedback, the maximum forces were lower (3.57 N/1.94 N, p < 0.001). Also, the arithmetic means of the force progression (p < 0.001) and their standard deviations (p < 0.001) were lower. Not significant were the shorter durations and lower error rates. No sequence effect of force or duration was detected. No characteristic learning or fatigue curve was observed.
Conclusions: In the experiment setup, the true haptic force feedback can reduce the applied intracorporeal robotic force to one-half when considering the aspects maximum, means, and standard deviation. Other test tasks are needed to validate the influence of force feedback on surgical efficiency and safety.
| Typ des Eintrags: | Artikel |
|---|---|
| Erschienen: | 2024 |
| Autor(en): | Miller, Johanna ; Braun, Manuel ; Bilz, Johannes ; Matich, Sebastian ; Neupert, Carsten ; Kunert, Wolfgang ; Kirschniak, Andreas |
| Art des Eintrags: | Zweitveröffentlichung |
| Titel: | Impact of haptic feedback on applied intracorporeal forces using a novel surgical robotic system - a randomized cross-over study with novices in an experimental setup |
| Sprache: | Englisch |
| Publikationsjahr: | 10 Dezember 2024 |
| Ort: | Darmstadt |
| Publikationsdatum der Erstveröffentlichung: | Juli 2021 |
| Verlag: | Springer |
| Titel der Zeitschrift, Zeitung oder Schriftenreihe: | Surgical Endoscopy |
| Jahrgang/Volume einer Zeitschrift: | 35 |
| (Heft-)Nummer: | 7 |
| DOI: | 10.26083/tuprints-00023874 |
| URL / URN: | https://tuprints.ulb.tu-darmstadt.de/23874 |
| Zugehörige Links: | |
| Herkunft: | Zweitveröffentlichung DeepGreen |
| Kurzbeschreibung (Abstract): | Background: Most currently used surgical robots have no force feedback; the next generation displays forces visually. A novel single-port robotic surgical system called FLEXMIN has been developed. Through an outer diameter of 38 mm, two instruments are teleoperated from a surgeon’s control console including true haptic force feedback. One additional channel incorporates a telescope, another is free for special instrument functions. Methods: This randomized cross-over study analyzed the effect of haptic feedback on the application of intracorporeal forces. In a standardized experiment setup, the subjects had to draw circles with the surgical robot as gently as possible. The applied forces, the required time spans, and predefined error rates were measured. Results: Without haptic feedback, the maximum forces (median/IQR) were 6.43 N/2.96 N. With haptic feedback, the maximum forces were lower (3.57 N/1.94 N, p < 0.001). Also, the arithmetic means of the force progression (p < 0.001) and their standard deviations (p < 0.001) were lower. Not significant were the shorter durations and lower error rates. No sequence effect of force or duration was detected. No characteristic learning or fatigue curve was observed. Conclusions: In the experiment setup, the true haptic force feedback can reduce the applied intracorporeal robotic force to one-half when considering the aspects maximum, means, and standard deviation. Other test tasks are needed to validate the influence of force feedback on surgical efficiency and safety. |
| Freie Schlagworte: | Surgical robot, Haptics, Force feedback, Randomized controlled trial, Experiment setup |
| Status: | Verlagsversion |
| URN: | urn:nbn:de:tuda-tuprints-238748 |
| Sachgruppe der Dewey Dezimalklassifikatin (DDC): | 600 Technik, Medizin, angewandte Wissenschaften > 610 Medizin, Gesundheit 600 Technik, Medizin, angewandte Wissenschaften > 621.3 Elektrotechnik, Elektronik |
| Fachbereich(e)/-gebiet(e): | 18 Fachbereich Elektrotechnik und Informationstechnik 18 Fachbereich Elektrotechnik und Informationstechnik > Mikrotechnik und Elektromechanische Systeme |
| Hinterlegungsdatum: | 10 Dez 2024 13:39 |
| Letzte Änderung: | 17 Dez 2024 12:39 |
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| Suche nach Titel in: | TUfind oder in Google |
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- Impact of haptic feedback on applied intracorporeal forces using a novel surgical robotic system - a randomized cross-over study with novices in an experimental setup. (deposited 10 Dez 2024 13:39) [Gegenwärtig angezeigt]
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