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Surgeons and non-surgeons prefer haptic feedback of instrument vibrations during robotic surgery

Surgical Endoscopy volume 29, pages 2970–2983 (2015)Cite this article

Abstract

Background

Clinical robotic surgery systems do not currently provide haptic feedback because surgical instrument interactions are difficult to measure and display. Our laboratory recently developed a technology that allows surgeons to feel and/or hear the high-frequency vibrations of robotic instruments as they interact with patient tissue and other tools. Until now, this type of feedback had not been carefully evaluated by users.

Methods

We conducted two human-subject studies to discover whether surgeons and non-surgeons value the addition of vibration feedback from surgical instruments during robotic surgery. In the first experiment, 10 surgeons and 10 non-surgeons (n = 20) used an augmented Intuitive da Vinci Standard robot to repeatedly perform up to four dry-lab tasks both with and without haptic and audio feedback. In the second experiment, 68 surgeons and 26 non-surgeons (n = 94) tested the same robot at a surgical conference: each participant spent approximately 5 min performing one or two tasks.

Results

Almost all subjects in both experiments (95 and 98 %, respectively) preferred receiving feedback of tool vibrations, and all subjects in the second experiment thought it would be useful for surgeons to have the option of such feedback. About half of the subjects (50, 60 %) preferred haptic and audio feedback together, and almost all the rest (45, 35 %) preferred haptic feedback alone. Subjects stated that the feedback made them more aware of tool contacts and did not interfere with use of the robot. There were no significant differences between the responses of different subject populations for any questions in either experiment.

Conclusions

This study illustrates that both surgeons and non-surgeons prefer instrument vibration feedback during robotic surgery. Some participants found audio feedback useful but most preferred haptic feedback overall. This strong preference for tool vibration feedback indicates that this technology provides valuable tactile information to the surgeon.

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Acknowledgments

This project was funded by a 2011 Translational Research Award (no grant number) from the Wallace H. Coulter Foundation. The da Vinci robot and instruments were donated by Intuitive Surgical, Inc. Data were collected using the REDCap online survey collection system. The authors would also like to thank Karlin Bark, Anna Brzezinski, Delara Ghanei, Ernest D. Gomez, Michael Gosselin, Jennifer Hui, Eza Koch, William McMahan, John Nappo, and Neel Shah for their contributions to the reported studies.

Disclosures

Jacqueline K. Koehn has no conflicts of interest or financial ties to disclose. Professor Katherine J. Kuchenbecker co-invented the vibration feedback technology evaluated in this paper. This invention is described in pending patent applications that have not been licensed to any company. Professor Kuchenbecker has no other conflicts of interest or financial ties to disclose.

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Affiliations

  1. Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, 229 Towne Building, 220 S. 33rd Street, Philadelphia, 19104-6315, USA

    Jacqueline K. Koehn & Katherine J. Kuchenbecker

  2. Department of Computer and Information Science, University of Pennsylvania, Philadelphia, USA

    Katherine J. Kuchenbecker

Authors
  1. Jacqueline K. Koehn
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  2. Katherine J. Kuchenbecker
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Correspondence to Katherine J. Kuchenbecker.

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Koehn, J.K., Kuchenbecker, K.J. Surgeons and non-surgeons prefer haptic feedback of instrument vibrations during robotic surgery. Surg Endosc 29, 2970–2983 (2015). https://doi.org/10.1007/s00464-014-4030-8

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  • DOI: https://doi.org/10.1007/s00464-014-4030-8

Keywords

  • Robotic surgery
  • Haptic feedback
  • Audio feedback
  • Vibrotactile