Effect of sensory substitution on suture manipulation forces for surgical teleoperation

Masaya Kitagawa, Daniell Dokko, Allison M. Okamura, Brian T. Bethea, David D. Yuh

Research output: Chapter in Book/Report/Conference proceedingConference contribution

21 Scopus citations


Bilateral telemanipulation, which applies haptic feedback to the operator, is not yet available in most commercial robot-assisted surgical systems. We have shown in previous work that the lack of haptic (force or tactile) feedback is detrimental in applications requiring fine suture manipulation. In this paper, we study the effect of substituting direct haptic feedback with visual and auditory cues. Using the da Vinci robot from Intuitive Surgical, we observed the difference between applied forces during a knot tying procedure for four different sensory feedback substitution scenarios: no feedback, auditory feedback, visual feedback, and a combination of auditory and visual feedback. Our results indicate that visual feedback, which provides continuous force information, would improve robotassisted performance during complex surgical tasks such as knot tying with fine sutures. Discrete auditory feedback gives additional useful support to the surgeon.

Original languageEnglish (US)
Title of host publicationMedicine Meets Virtual Reality 12 - Building a Better You
Subtitle of host publicationThe Next Tools for Medical Education, Diagnosis and Care
PublisherIOS Press
Number of pages7
ISBN (Print)1586034049, 9781586034047
StatePublished - Jan 1 2004
Event4th Medicine Meets Virtual Reality Proceedings 1996, MMVR 1996 - Newport Beach, CA, United States
Duration: Jan 15 2004Jan 16 2004

Publication series

NameStudies in Health Technology and Informatics
ISSN (Print)0926-9630
ISSN (Electronic)1879-8365


Other4th Medicine Meets Virtual Reality Proceedings 1996, MMVR 1996
Country/TerritoryUnited States
CityNewport Beach, CA

ASJC Scopus subject areas

  • Biomedical Engineering
  • Health Informatics
  • Health Information Management


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