Systematic review of haptic feedback in surgical robotics and factors affecting outcomes

Abstract

The present study investigates the benefits of providing medical practitioners with haptic feedback via a human-robot-interface while they perform surgical tasks. To this end a meta-analysis encompassing N＝56 primary studies from one decade of research has been conducted. This master’s thesis consists of two parts: a core paper and an accompanying framework. The thesis’ core forms a paper written in accordance with the style of the open access journal “Scientific Reports”. The framework serves to guide a broader audience into the topic. Core concepts are introduced and the study rational outlined. The framework also provides additional information and discussion beyond those included in the main paper. The meta-analysis found large main effects for all investigated metrics. Haptic feedback was effective in reducing average forces (Hedges’ g＝0.82) and peak forces (Hedges’ g＝0.69) applied during surgery as well as reducing the completion time (Hedges’ g＝0.83). Haptic feedback has also been found to lead to higher accuracy (Hedges’ g＝1.50) and success rates (Hedges’ g＝0.82). Furthermore, this study investigated relevant factors modulating these effects. The subjects’ level of surgical expertise, the type of medical task and the type of haptic feedback influenced the effectiveness of restoring haptic sensation. Virtual fixtures and contact force rendering proved equally effective. The limitations and implications of this study are discussed.