期刊缩写       PRESENCE-TELEOP VIRT

期刊全称       PRESENCE-TELEOPERATORS AND VIRTUAL ENVIRONMENTS 遥控机器人和虚拟环境的存在

出版国家       UNITED STATES

出版周期       Bimonthly

出版年份       1992

期刊ISSN       1054-7460

2012-2013最新影响因子     1.040

 

 

Presence: Teleoperators & Virtual Environments is a peer-reviewed academic journal dedicated to electromechanical and computer systems. It was the first journal established specifically for investigators of teleoperators and virtual environments. Presence was founded in 1992 and is published online and in hard copy by the MIT Press.

 

The Benefit of Force Feedback in Surgery:  Examination of Blunt Dissection

Abstract—Force feedback is widely assumed to enhance performance in robotic surgery, but its benefits have not yet been systematically assessed. In this study we examine the effects of force feedback on a blunt dissection task. 20 subjects used a telerobotic system to expose an artery in a synthetic model while viewing the operative site with a video laparoscope. Subjects were drawn from a range of surgical backgrounds, from inexperienced to attending surgeons. Performance was compared between three force feedback gains: 0% (no force feedback), 37% and 75%. The absence of force feedback increased the average force magnitude applied to the tissue by at least 50%, and increased the peak force magnitude by at least 100%. The number of errors that damage tissue increased by over a factor 3. The rate and precision of dissection were not significantly enhanced with force feedback. These results hold across all levels of previous surgical experience. We hypothesize that force feedback is helpful in this blunt dissection task because the artery is stiffer than the surrounding tissue. This mechanical contrast serves to constrain the subjects’ hand from commanding inappropriate motions that generate large forces.   Index Terms—Force feedback, surgery, haptics, dissection, blunt dissection, telemanipulation, telesurgery, telerobotics.