Suture Tension Perception

This work compared various haptic interface techniques for the perception of simulated suture tension.

In particular, kinesthetic (force feedback) sensations are excellent at providing realistic reaction forces that resist user motion, however these can quickly de-stabilize high gain closed loop tele-operator systems, making them unsuitable for surgical scenarios. Conversely, tactile feedback negates controller instability but it's reliance on sensor substitution gives a less realistic and intuitive sensations.

The hybrid haptic interface we used for this work is shown on the left. This system also features in the below video, where it is being used for tele-palpation.