Top

Surgical Endoscopy

Published in:

Open Access 01-06-2009 | Review

The value of haptic feedback in conventional and robot-assisted minimal invasive surgery and virtual reality training: a current review

Authors: O. A. J. van der Meijden, M. P. Schijven

Published in: Surgical Endoscopy | Issue 6/2009

Abstract

Background

Virtual reality (VR) as surgical training tool has become a state-of-the-art technique in training and teaching skills for minimally invasive surgery (MIS). Although intuitively appealing, the true benefits of haptic (VR training) platforms are unknown. Many questions about haptic feedback in the different areas of surgical skills (training) need to be answered before adding costly haptic feedback in VR simulation for MIS training. This study was designed to review the current status and value of haptic feedback in conventional and robot-assisted MIS and training by using virtual reality simulation.

Methods

A systematic review of the literature was undertaken using PubMed and MEDLINE. The following search terms were used: Haptic feedback OR Haptics OR Force feedback AND/OR Minimal Invasive Surgery AND/OR Minimal Access Surgery AND/OR Robotics AND/OR Robotic Surgery AND/OR Endoscopic Surgery AND/OR Virtual Reality AND/OR Simulation OR Surgical Training/Education.

Results

The results were assessed according to level of evidence as reflected by the Oxford Centre of Evidence-based Medicine Levels of Evidence.

Conclusions

In the current literature, no firm consensus exists on the importance of haptic feedback in performing minimally invasive surgery. Although the majority of the results show positive assessment of the benefits of force feedback, results are ambivalent and not unanimous on the subject. Benefits are least disputed when related to surgery using robotics, because there is no haptic feedback in currently used robotics. The addition of haptics is believed to reduce surgical errors resulting from a lack of it, especially in knot tying. Little research has been performed in the area of robot-assisted endoscopic surgical training, but results seem promising. Concerning VR training, results indicate that haptic feedback is important during the early phase of psychomotor skill acquisition.

Robles de la Torre G (2006) The importance of the sense of touch in virtual and real environments. IEEE Multimedia

Fager PJ (2004) The use of haptics in medical application. Int J Med Robotics Comput Assisted Surg 1:36–42CrossRef

Dunkin B, Adrales GL, Apelgren K, Mellinger JD (2007) Surgical simulation: a current review. Surg Endosc 21:357–366PubMedCrossRef

Lanfranco AR, Castellanos AE, Desai JP, Meyers WC (2004) Robotic surgery: a current perspective. Ann Surg 239:14–21PubMedCrossRef

Tholey G, Desai JP, Castellanos AE (2005) Force feedback plays a significant role in minimally invasive surgery: results and analysis. Ann Surg 241:102–109PubMed

Roberts KE, Bell RL, Duffy AJ (2006) Evolution of surgical skills training. World J Gastroenterol 12:3219–3224PubMed

Bethea BT, Okamura AM, Kitagawa M, Fitton TP, Cattaneo SM, Gott VL, Baumgartner WA, Yuh DD (2004) Application of haptic feedback to robotic surgery. J Laparoendosc Adv Surg Tech A 14:191–195PubMedCrossRef

Moody L, Baber C, Arvanitis TN (2002) Objective surgical performance evaluation based on haptic feedback. Stud Health Technol Inform 85:304–310PubMed

Grantcharov TP, Kristiansen VB, Bendix J, Bardram L, Rosenberg J, Funch-Jensen P (2004) Randomized clinical trial of virtual reality simulation for laparoscopic skills training. Br J Surg 91:146–150PubMedCrossRef

10.

Aggarwal R, Grantcharov T, Moorthy K, Hance J, Darzi A (2006) A competency-based virtual reality training curriculum for the acquisition of laparoscopic psychomotor skill. Am J Surg 191:128–133PubMedCrossRef

11.

Halvorsen FH, Elle OJ, Dalinin VV, Mork BE, Sorhus V, Rotnes JS et al (2006) Virtual reality simulator training equals mechanical robotic training in improving robot-assisted basic suturing skills. Surg Endosc 20:1565–1569PubMedCrossRef

12.

Lathan CE, Tracey MR, Sebrechts MM, Clawson DM, Higgins GA (2002) Using virtual environments as training simulators: measuring transfer. In: Stanney KM (ed) Handbook of virtual environments: design, implementation and applications. Lawrence Erlbaum Associates, Mahwah, pp 414–434

13.

Seymour NE, Gallagher AG, Roman SA, O’Brien MK, Bansal VK, Andersen DK, Satava RM (2002) Virtual reality training improves operating room performance: results of a randomized, double-blinded study. Ann Surg 236:458–464PubMedCrossRef

14.

Schijven MP, Jakimowicz JJ, Broeders IAMJ, Tseng LNL (2005) The Eindhoven laparoscopic cholecystectomy training course—improving operating room performance using virtual reality training. Surg Endosc 19:1220–1226PubMedCrossRef

15.

Aggarwal R, Tully A, Grantcharov T, Larsen CR, Miskry T, Farthing A, Darzi A (2007) Virtual reality simulation training can improve technical skills during laparoscopic salpingectomy for ectopic pregnancy. BJOG 114:656

16.

Aggarwal R, Grantcharov TP, Eriksen JR, Blirup D, Kristiansen VB, Funch-Jensen P, Darzi A (2006) An evidence-based virtual reality training program for novice laparoscopic surgeons. Ann Surg 244:310–314PubMedCrossRef

17.

Philips B, Ball C, Sackett D, Badenoch D, Straus S, Haynes B, Dawes M (2001) Oxford Centre for Evidence-based Medicine Levels of Evidence

18.

Keus F, De Jong JA, Gooszen HG, Van Laarhoven CJ (2006) Small-incision versus open cholecystectomy for patients with symptomatic cholecystolithiasis. Cochrane Database Syst Rev 4:CD004788PubMed

19.

Keus F, De Jong JA, Gooszen HG, Van Laarhoven CJ (2006) Laparoscopic versus open cholecystectomy for patients with symptomatic cholecystolithiasis. Cochrane Database Syst Rev 4:CD006231PubMed

20.

Barczynski M, Cichon S, Konturek A, Cichon W (2006) Minimally invasive video-assisted parathyroidectomy versus open minimally invasive parathyroidectomy for a solitary parathyroid adenoma: a prospective, randomized, blinded trial. World J Surg 30:721–731PubMedCrossRef

21.

Sekhar N, Torquati A, Youssef Y, Wright JK, Richards WO (2007) A comparison of 399 open and 568 laparoscopic gastric bypasses performed during a 4-year period. Surg Endosc 21:665–668PubMedCrossRef

22.

Kluivers KB, Hendriks JC, Mol BW, Bongers MY, Bremer GL, De Vet HC, Vierhout ME, Brolmann HA (2007) Quality of life and surgical outcome after total laparoscopic hysterectomy versus total abdominal hysterectomy for benign disease: a randomized, controlled trial. J Minim Invasive Gynecol 14:145–152PubMedCrossRef

23.

Staudacher C, Vignali A, Saverio DP, Elena O, Andrea T (2007) Laparoscopic vs. open total mesorectal excision in unselected patients with rectal cancer: impact on early outcome. Dis Colon Rectum 50:1324–1331PubMedCrossRef

24.

Tong DK, Law WL (2007) Laparoscopic versus open right hemicolectomy for carcinoma of the colon. JSLS 11:76–80PubMed

25.

Heijnsdijk EAM, Pasdeloup A, van der Pijn AJ, Dankelman J, Gouma DJ (2004) The influence of force feedback and visual feedback in grasping tissue laparoscopically. Surg Endosc 18:980–985PubMedCrossRef

26.

Picod G, Jambon AC, Vinatier D, Dubois P (2005) What can the operator actually feel when performing a laparoscopy? Surg Endosc 19:95–100PubMedCrossRef

27.

Bridges M, Diamond DL (1999) The financial impact of teaching surgical residents in the operating room. Am J Surg 177:28–32PubMedCrossRef

28.

Fiedler MJ, Chen SJ, Judkins TN, Oleynikov D, Stergiou N (2007) Virtual reality for robotic laparoscopic surgical training. Stud Health Technol Inform 125:127–129PubMed

29.

Albani JM, Lee DI (2007) Virtual reality-assisted robotic surgery simulation. J Endourol 21:285–287PubMedCrossRef

30.

Satava RM (1993) Virtual reality surgical simulator: the first steps. Surg Endosc 7:203–205PubMedCrossRef

31.

Ström P, Hedman L, Särna L, Kjellin A, Wredmark T, Felländer-Tsai L (2006) Early exposure to haptic feedback enhances performance in surgical simulator training: a prospective randomized crossover study in surgical residents. Surg Endosc 20:1383–1388PubMedCrossRef

32.

den Boer KT, Herder JL, Sjoerdsma W, Meijer DW, Gouma DJ, Stassen HG (1999) Sensitivity of laparoscopic dissectors: what can you feel? Surg Endosc 13:869–873CrossRef

33.

Lamata P, Gomez EJ, Sanchez-Margallo FM, Lamata F, del Pozo F, Uson J (2006) Tissue consistency perception in laparascopy to define the level of fidelity in virtual reality simulation. Surg Endosc 20:1368–1375PubMedCrossRef

34.

Lehnert M, Richter B, Beyer PA, Heller K (2006) A prospective study comparing operative time in conventional laparoscopic and robotically assisted Thal semifundoplication in children. J Pediatr Surg 41:1392–1396PubMedCrossRef

35.

Rosen J, Hannaford B, MacFarlane MP, Sinanan MN (1999) Force controlled and teleoperated endoscopic grasper for minimally invasive surgery—experimental performance evaluation. IEEE Trans Biomed Eng 46:1212–1221PubMedCrossRef

36.

Bholat OS, Haluck RS, Murray WB, Gorman PJ, Krummel TM (1999) Tactile feedback is present during minimally invasive surgery. J Am Coll Surg 198:349–355CrossRef

37.

Bholat OS, Halluck RS, Kutz RH, Gorman PJ, Krummel TM (1999) Defining the role of haptic feedback in minimally invasive surgery. Stud Health Technol Inform 62:62–66PubMed

38.

Toledo L, Gossot D, Fritsch S, Revillon Y, Reboulet C (1999) Study of sustained forces and the working space of endoscopic surgery instruments. Ann Chir 53:587–597PubMed

39.

van den Dobbelsteen JJ, Schooleman A, Dankelman J (2006) Friction dynamics of trocars. Surg Endosc 21:1338–1343PubMedCrossRef

40.

Van der Peijl AJ, Herder JL (2001) Development of 5-mm trocar laparoscopic forceps with mechanical force feedback. Proceedings of the Design Engineering Technical Conferences 2001, American Society of Mechanical Engineers, 3–12 September 2001, DETC 01, ASME Conference, Pittsburgh, PA, USA

41.

Balázs M, Feussner H, Hirzinger G, Omote K, Ungeheuer A (1998) A new tool for minor-access surgery: replacing mechanical joints in laparoscopic forceps with elastic beams for improved pressure control and sensitivity. IEEE Eng Med Biol 17:45–48CrossRef

42.

Herder JL, Horward MJ, Sjoerdsma W (1997) A laparoscopic grasper with force perception. Minim Invasive Ther Allied Technol 6:279–286CrossRef

43.

Howe RD, Peine WJ, Kontarinis DA, Son JS (1995) Remote palpation technology. IEEE Eng Med Biol 14:318–323CrossRef

44.

Sjoerdsma W, Herder JL, Horward MJ, Jansen A, Bannenberg JJG, Grimbergen CA (1997) Force transmission of laparoscopic grasping instruments. Minim Invasive Ther Allied Technol 6:274–278CrossRef

45.

Heijnsdijk EAM, Dankelman J, Gouma DJ (2002) Effectiveness of grasping and duration of clamping using laparoscopic graspers. Surg Endosc 16:1329–1331PubMedCrossRef

46.

Westebring-van der Putten EP, Goossens RH, Jakimowicz JJ, Dankelman J (2008) Haptics in minimally invasive surgery—a review. Minim Invasive Ther Allied Technol 17:3–16PubMedCrossRef

47.

Delaney CP, Lynch AC, Senagore AJ, Fazio VW (2003) Comparison of robotically performed and traditional laparoscopic colorectal surger. Dis Colon Rectum 46:1633–1639PubMedCrossRef

48.

Morino M, Pellegrino L, Giaccone C, Garrone C, Rebecchi F (2006) Randomized clinical trial of robot-assisted versus laparoscopic Nissen fundoplication. Br J Surg 93:553–558PubMedCrossRef

49.

Nakadi IE, Melot C, Closset J, DeMoor V, Betroune K, Feron P, Lingier P, Gelin M (2006) Evaluation of da Vinci Nissen fundoplication clinical results and cost minimization. World J Surg 30:1050–1054PubMedCrossRef

50.

Kornprat P, Werkgartner G, Cerwenka H, Bacher H, El-Shabrawi A, Rehak P, Mischinger HJ (2006) Prospective study comparing standard and robotically assisted laparoscopic cholecystectomy. Langenbechks Arch Surg 391:216–221CrossRef

51.

Wagner CR, Soupoulos N, Howe RD (2002) The role of force feedback in surgery: analysis of blunt dissection. 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS), 24–28 March 2002, pp 68–74

52.

Badani KK, Bhandari K, Tewari A, Menon M (2005) Comparison of two-dimensional and three-dimensional suturing: is there a difference in a robotic surgery setting? J Endourol 19:1212–1215PubMedCrossRef

53.

Falk V, Mintz D, Grünenfelder J, Fann JI, Burdon TA (2001) Influence of three-dimensional vision on surgical telemanipulator performance. Surg Endosc 15:1282–1288PubMedCrossRef

54.

Byrn JC, Schluender S, Divino CM, Conrad J, Gurland B, Shlasko E, Szold A (2007) Three-dimensional imaging improves surgical performance for both novice and experienced operators using the da Vinci Robot System. Am J Surg 193:519–522PubMedCrossRef

55.

Okamura A, Smaby N, Cutkosky M (2000) An overview of dexterous manipulation. ICRA 1:255–262

56.

King CH, Higa AT, Culjat MO, Han SH, Bisley JW, Carman GP, Dutson E, Grundfest WS (2007) A pneumatic haptic feedback actuator array for robotic surgery of simulation. Stud Health Technol Inform 125:217–222PubMed

57.

Tavakoli M, Patel RV, Moallem M (2005) Haptic interaction in robot-assisted endoscopic surgery: a sensorized end-effector. Int J Med Robot 1:53–63PubMed

58.

Ruurda JP, ThJMV Van Vroonhoven, Broeders IAMJ (2002) Robot-assisted surgical systems: a new era in laparoscopic surgery. Ann R Coll Surg Engl 84:223–226PubMedCrossRef

59.

Botden SM, Buzink SN, Schijven MP, Jakimowicz JJ (2007) Augmented versus virtual reality laparoscopic simulation: what is the difference? A comparison of the ProMIS Augmented Reality Laparoscopic Simulator versus LapSim Virtual Reality Laparoscopic Simulator. World J Surg 31:764–772PubMedCrossRef

60.

Wilson MS, Middlebrook A, Sutton C, Stone R, McCloy RF (1997) MIST VR: a virtual reality trainer for laparoscopic surgery assesses performance. Ann R Coll Surg Engl 79:403–440PubMed

61.

Basdogan C, De S, Jung K, Muniyandi M, Hyun K, Srinivasan MA (2004) Haptics in minimally invasive surgical simulation and training. IEEE Comput Graph Appl 24:56–64PubMedCrossRef

62.

Cosman PH, Cregan PC, Martin CJ, Cartmill JA (2002) Virtual reality simulators: current status in acquisition and assessment of surgical skills. ANZ J Surg 72:30–34PubMedCrossRef

63.

Kim HK, Ratter DW, Srinivasan MA (2003) The Role of Simulation Fidelity in Laparoscopic Surgical Training, 6th International Medical Image Computing and Computer Assisted

64.

Chamarra MK, Dankelman J, van den Dobbelsteen JJ, Jansen FW (2008) Force feedback and basic laparoscopic skills. Surg Endosc 22:2140–2148CrossRef

65.

Jacobs S, Holzhev D, Strauss G, Burgert O, Falk V (2007) The impact of haptic learning in telemanipulator-assisted surgery. Surg Laparosc Endosc Percutan Tech 17:402–406PubMedCrossRef

Title: The value of haptic feedback in conventional and robot-assisted minimal invasive surgery and virtual reality training: a current review
Authors: O. A. J. van der Meijden
M. P. Schijven
Publication date: 01-06-2009
Publisher: Springer-Verlag
Published in: Surgical Endoscopy / Issue 6/2009
Print ISSN: 0930-2794
Electronic ISSN: 1432-2218
DOI: https://doi.org/10.1007/s00464-008-0298-x

Keynote webinar | Spotlight on sleep in brain health

Springer Medicine

The value of haptic feedback in conventional and robot-assisted minimal invasive surgery and virtual reality training: a current review

Abstract

Background

Methods

Results

Conclusions

Keynote webinar | Spotlight on sleep in brain health

Springer Medicine

Abstract

Background

Methods

Results

Conclusions

Please log in to get access to this content

Other articles of this Issue 6/2009

Dysregulation of gene expression within the peroxisome proliferator activated receptor pathway in morbidly obese patients

Validation of a rodent model of Barrett’s esophagus using quantitative gene expression profiling

Mesh complications after prosthetic reinforcement of hiatal closure: a 28-case series

Role of three-dimensional anorectal ultrasonography in the assessment of rectal cancer after neoadjuvant radiochemotherapy: preliminary results

Laparoscopic-assisted distal gastrectomy versus open distal gastrectomy for advanced gastric cancer

Laparoscopic Nissen fundoplication assessment: task analysis as a model for the development of a procedural checklist