Teleoperated minimally invasive surgical robots can significantly enhance a surgeon's accuracy, dexterity and visualization. However, current commercially available systems do not include significant haptic (force and tactile) feedback to the operator. This paper describes experiments to characterize this problem, as well as several methods to provide haptic feedback in order to improve surgeon's performance. There exist a variety of sensing and control methods that enable haptic feedback, although a number of practical considerations, e.g. cost, complexity and biocompatibility, present significant challenges. The ability of teleoperated robot-assisted surgical systems to measure and display haptic information leads to a number of additional exciting clinical and scientific opportunities, such as active operator assistance through "virtual fixtures" and the automatic acquisition of tissue properties.

中文翻译：

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遥控机器人辅助手术中的触觉反馈方法。

远程操作微创手术机器人可以显着提高外科医生的准确性，灵巧性和可视性。但是，当前的市售系统不包括对操作者的明显的触觉（力和触觉）反馈。本文介绍了表征此问题的实验，以及提供触觉反馈以改善外科医生的表现的几种方法。尽管有许多实际的考虑因素，例如成本，复杂性和生物相容性，提出了巨大的挑战，但是存在各种能够进行触觉反馈的传感和控制方法。远程操作机器人辅助手术系统能够测量和显示触觉信息的能力带来了许多其他令人兴奋的临床和科学机会，例如通过“