Haptic Feedback in Surgical Robotics: Still a Challenge

  • Arturo Marbán
  • Alicia Casals
  • Josep Fernández
  • Josep Amat
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 252)


Endowing current surgical robotic systems with haptic feedback to perform minimally invasive surgery (MIS), such as laparoscopy, is still a challenge. Haptic is a feature lost in surgical teleoperated systems limiting surgeons capabilities and ability. The availability of haptics would provide important advantages to the surgeon: Improved tissue manipulation, reducing the breaking of sutures and increase the feeling of telepresence, among others. To design and develop a haptic system, the measurement of forces can be implemented based on two approaches: Direct and indirect force sensing. MIS performed with surgical robots, imposes many technical constraints to measure forces, such as: Miniaturization, need of sterilization or materials compatibility, making it necessary to rely on indirect force sensing. Based on mathematical models of the components involved in an intervention and indirect force sensing techniques, a global perspective on how to address the problem of measurement of tool-tissue interaction forces is presented.


surgical robotics haptic feedback indirect force sensing machine learning data fusion mathematical models 


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Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  • Arturo Marbán
    • 1
  • Alicia Casals
    • 1
    • 2
  • Josep Fernández
    • 1
  • Josep Amat
    • 1
  1. 1.Universitat Politècnica de Catalunya, BarcelonaTechBarcelonaSpain
  2. 2.Institute for Bioengineering of CataloniaBarcelonaSpain

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