title: Role of combined tactile and kinesthetic feedback in minimally invasive surgery.
abstract: BACKGROUND
  Haptic feedback is of critical importance in surgical tasks. However, conventional surgical robots do not provide haptic feedback to surgeons during surgery. Thus, in this study, a combined tactile and kinesthetic feedback system was developed to provide haptic feedback to surgeons during robotic surgery.
  
  
  METHODS
  To assess haptic feasibility, the effects of two types of haptic feedback were examined empirically - kinesthetic and tactile feedback - to measure object-pulling force with a telesurgery robotics system at two desired pulling forces (1 N and 2 N). Participants answered a set of questionnaires after experiments.
  
  
  RESULTS
  The experimental results reveal reductions in force error (39.1% and 40.9%) when using haptic feedback during 1 N and 2 N pulling tasks. Moreover, survey analyses show the effectiveness of the haptic feedback during teleoperation.
  
  
  CONCLUSIONS
  The combined tactile and kinesthetic feedback of the master device in robotic surgery improves the surgeon's ability to control the interaction force applied to the tissue. Copyright © 2014 John Wiley & Sons, Ltd.
authors.affiliation: Device & System Research Center, Samsung Advanced Institute of Technology (SAIT), 130 Samsung-ro, Yeongtong-gu, Suwon-si, Gyeonggi-do, Korea.
authors.forename: Soo-Chul
authors.initials: SC
authors.lastname: Lim
authors.affiliation: Device & System Research Center, Samsung Advanced Institute of Technology (SAIT), 130 Samsung-ro, Yeongtong-gu, Suwon-si, Gyeonggi-do, Korea.
authors.forename: Hyung-Kew
authors.initials: HK
authors.lastname: Lee
authors.affiliation: Device & System Research Center, Samsung Advanced Institute of Technology (SAIT), 130 Samsung-ro, Yeongtong-gu, Suwon-si, Gyeonggi-do, Korea.
authors.forename: Joonah
authors.initials: J
authors.lastname: Park
keywords: haptic feedback; haptic interface; kinesthetic feedback; minimally invasive surgery; sensory integration; shear force; surgical robot; tactile display; tactile feedback