Field experiment of a telesurgery system using a surgical robot with haptic feedback

Mitsuhiko Ota, Eiji Oki, Tomonori Nakanoko, Yasushi Tanaka, Satoshi Toyota, Qingjiang Hu, Yu Nakaji, Ryota Nakanishi, Koji Ando, Yasue Kimura, Yuichi Hisamatsu, Koshi Mimori, Yoshiya Takahashi, Hajime Morohashi, Takahiro Kanno, Kotaro Tadano, Kenji Kawashima, Hironobu Takano, Yuma Ebihara, Masaki ShiotaJunichi Inokuchi, Masatoshi Eto, Tomoharu Yoshizumi, Kenichi Hakamada, Satoshi Hirano, Masaki Mori

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)


Purpose: To verify the usefulness of haptic feedback in telesurgery and improve the safety of telerobotic surgery. Methods: The surgeon's console was installed at two sites (Fukuoka and Beppu; 140 km apart), and the patient cart was installed in Fukuoka. During the experiment, the surgeon was blinded to the haptic feedback levels and asked to grasp the intestinal tract in an animal model. The surgeon then performed the tasks at each location. Results: No marked differences in task accuracy or average grasping force were observed between the surgeon locations. However, the average task completion time was significantly longer, and the system usability scale (SUS) was significantly lower rating for remote operations than for local ones. No marked differences in task accuracy or task completion time were observed between the haptic feedback levels. However, with haptic feedback, the organ was grasped with a significantly weaker force than that without it. Furthermore, with haptic feedback, experienced surgeons in robotic surgery tended to perform an equivalent task with weaker grasping forces than inexperienced surgeons. Conclusion: The haptic feedback function is a tool that allows the surgeon to perform surgery with an appropriate grasping force, both on site and remotely. Improved safety is necessary in telesurgery; haptic feedback will thus be an essential technology in robotic telesurgery going forward.

Original languageEnglish
Pages (from-to)375-381
Number of pages7
JournalSurgery today
Issue number4
Publication statusPublished - Apr 2024

All Science Journal Classification (ASJC) codes

  • Surgery


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