Haptic feedback in robot-assisted minimally invasive surgery.
Haptic feedback in robot-assisted minimally invasive surgery.
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DOI：
10.1097/mou.0b013e32831a478c
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发表时间：
2009-01
影响因子：
2.5
通讯作者：
Okamura AM
中科院分区：
文献类型：
--
作者：
Okamura AM
机器人辅助微创手术（RMIS）在提高外科医生的准确性和灵活性，同时最大限度地减少对患者的创伤方面具有很大的前景。然而，RMIS的广泛临床成功是微不足道的。假设缺乏向外科医生提供的触觉（力和触觉）反馈是一个限制因素。这篇综述解释了为机器人辅助手术创建触觉反馈的技术挑战，并提供了最近的结果，评估触觉反馈在模拟手术任务中的有效性。RMIS的触觉反馈系统仍在开发和评估中。大多数只提供力反馈，保真度有限。此时的主要挑战是感知施加在患者身上的力。一些触觉反馈系统的RMIS已经创建，但其实用性的临床实施需要证明。特别难以感测和显示空间分布的触觉信息。RMIS中触觉反馈的成本效益比尚未确定。现有商业RMIS系统的设计不利于力反馈，需要创造性的解决方案来创建引人注目的触觉反馈系统。外科医生、工程师和神经科学家应该共同努力，为RMIS中的触觉反馈开发有效的解决方案。
Robot-assisted minimally invasive surgery (RMIS) holds great promise for improving the accuracy and dexterity of a surgeon while minimizing trauma to the patient. However, widespread clinical success with RMIS has been marginal. It is hypothesized that the lack of haptic (force and tactile) feedback presented to the surgeon is a limiting factor. This review explains the technical challenges of creating haptic feedback for robot-assisted surgery and provides recent results that evaluate the effectiveness of haptic feedback in mock surgical tasks. Haptic feedback systems for RMIS are still under development and evaluation. Most provide only force feedback, with limited fidelity. The major challenge at this time is sensing forces applied to the patient. A few tactile feedback systems for RMIS have been created, but their practicality for clinical implementation needs to be shown. It is particularly difficult to sense and display spatially distributed tactile information. The cost-benefit ratio for haptic feedback in RMIS has not been established. The designs of existing commercial RMIS systems are not conducive for force feedback, and creative solutions are needed to create compelling tactile feedback systems. Surgeons, engineers, and neuroscientists should work together to develop effective solutions for haptic feedback in RMIS.