Abstract
In the current practice of minimally invasive surgery (MIS) and therapy, a surgeon is faced with problems such as a lack of dexterity because of restricted port access to the surgical site, a lack of fine manipulation capability because of the long surgical instruments, visual problems including motion sickness and loss of localization, and significant degradation of touch sensation (haptic feedback) for the surgeon from the instrument and its contact with tissue. Some of the reasons for such degradation in the feedback of touch are that (1) the instruments include hinge mechanisms with significant friction, (2) the cannulae through which instruments are inserted introduce friction [6], and (3) the contact forces at the instrument tip can sometimes be very small compared with the relatively large forces supplied by the arm to move the instrument mass and the unsupported hand. As a result of this degradation in the haptic sensation for the surgeon, surgical tasks requiring accurate feeling of tissue characteristics such as palpation are difficult to perform in the minimally invasive mode.
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Tavakoli, M., Patel, R. (2008). Haptics in Telerobotic Systems for Minimally Invasive Surgery. In: Kumar, S., Marescaux, J. (eds) Telesurgery. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-72999-0_9
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DOI: https://doi.org/10.1007/978-3-540-72999-0_9
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