Wrist-Squeezing Force Feedback Improves Accuracy and Speed in Robotic Surgery Training (2205.06927v2)

Abstract: Current robotic minimally invasive surgery (RMIS) platforms provide surgeons with no haptic feedback of the robot's physical interactions. This limitation forces surgeons to rely heavily on visual feedback and can make it challenging for surgical trainees to manipulate tissue gently. Prior research has demonstrated that haptic feedback can increase task accuracy in RMIS training. However, it remains unclear whether these improvements represent a fundamental improvement in skill, or if they simply stem from re-prioritizing accuracy over task completion time. In this study, we provide haptic feedback of the force applied by the surgical instruments using custom wrist-squeezing devices. We hypothesize that individuals receiving haptic feedback will increase accuracy (produce less force) while increasing their task completion time, compared to a control group receiving no haptic feedback. To test this hypothesis, N=21 novice participants were asked to repeatedly complete a ring rollercoaster surgical training task as quickly as possible. Results show that participants receiving haptic feedback apply significantly less force (0.67 N) than the control group, and they complete the task no faster or slower than the control group after twelve repetitions. Furthermore, participants in the feedback group decreased their task completion times significantly faster (7.68%) than participants in the control group (5.26%). This form of haptic feedback, therefore, has the potential to help trainees improve their technical accuracy without compromising speed.

• The paper demonstrates that wrist-squeezing force feedback reduces applied force by an average of 0.67 N compared to controls.
• It employs a custom bimanual haptic system on a da Vinci Robot RMIS task to evaluate improvements in speed and accuracy.
• Results reveal a faster trial-to-trial efficiency gain (7.68% vs. 5.26%), indicating a steeper learning curve without increased cognitive load.

An Analytical Overview of Wrist-Squeezing Force Feedback in Robotic Surgery Training

The paper "Wrist-Squeezing Force Feedback Improves Accuracy and Speed in Robotic Surgery Training" investigates the impact of integrating haptic feedback into Robotic Minimally Invasive Surgery (RMIS) training. The research explores the speed-accuracy tradeoff in RMIS training, as the current standard RMIS platforms offer limited or no haptic feedback, necessitating reliance on visual cues. Prior studies have shown that haptic feedback can potentially enhance surgical task performance; however, this has not been consistently validated across various surgical tasks.

In this paper, the authors introduced a custom bimanual haptic feedback system designed to convey interaction force through wrist-squeezing actuators. This system was tested on a ring rollercoaster task with 21 novice participants using an Intuitive Surgical da Vinci Robot, a standard RMIS platform. The participants were divided into two groups: those receiving haptic feedback and a control group without it. The primary metrics for evaluation were task completion time and accuracy measured through root mean square (RMS) force.

Key findings indicate that participants receiving haptic feedback applied significantly less force throughout the experiment, averaging 0.67 N less than the control group. Interestingly, the group with feedback showed a more rapid reduction in task completion time (7.68% trial-to-trial decrease) compared to the control group (5.26% trial-to-trial decrease), suggesting that tactile feedback enhances the learning curve and task execution efficiency.

The paper comprehensively accounts for variables that could affect training performance, including physical and mental task demands, assessed via a modified NASA Task Load Index questionnaire. Notably, differences between feedback and no-feedback groups were non-significant concerning perceived task difficulty, indicating that feedback did not introduce additional cognitive load.

From a methodological perspective, this paper adopts a rigorous approach by leveraging a force/torque sensor and bimanual wrist-squeezing devices. The results substantiate the claim that haptic feedback can ameliorate the speed-accuracy tradeoff, augmenting novice RMIS training. This offers promising implications for surgical education, particularly in improving tactile perception and reducing incidental tissue damage during surgery.

Practically, the findings advocate for the integration of haptic systems in RMIS training curricula. Theoretically, these outcomes invite further research into the longitudinal benefits of haptic feedback and its potential in enhancing fine motor skills among surgical novices. Future work could extend these findings to more clinically relevant surgical tasks or explore haptic feedback use in teleoperated surgical environments.

In conclusion, this paper contributes valuable insights into the domain of robotic surgery training by confirming that the incorporation of wrist-squeezing haptic feedback significantly improves task precision without detracting from speed. These findings emphasize the role of haptic feedback as a potentially advantageous addition to existing RMIS platforms, warranting continued exploration and refinement within the robotics and surgical communities.