Haptic Feedback Modalities for Minimally Invasive Surgery

Abstract

Sense of touch is critical for surgeons to perform tissue palpation, and there are several tactile sensing that can be used to translate this information (Chapter 5). To overcome the loss of touch, which occurs during robotic-assisted surgical procedures, methods capable of providing partial haptic feedback and mimicking the physical interaction that takes place between surgical tools and human tissue during surgery have been proposed. This chapter introduces haptic feedback modalities for robot-assisted minimally invasive surgical platforms, such as STIFF-FLOP.