{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,11]],"date-time":"2026-05-11T08:51:39Z","timestamp":1778489499558,"version":"3.51.4"},"reference-count":36,"publisher":"Springer Science and Business Media LLC","issue":"3","license":[{"start":{"date-parts":[[2020,1,30]],"date-time":"2020-01-30T00:00:00Z","timestamp":1580342400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"},{"start":{"date-parts":[[2020,1,30]],"date-time":"2020-01-30T00:00:00Z","timestamp":1580342400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Int J CARS"],"published-print":{"date-parts":[[2020,3]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:sec>\n<jats:title>Purpose<\/jats:title>\n<jats:p>A frequently mentioned lack of teleoperated surgical robots is the lack of haptic feedback. Haptics are not only able to mirror force information from the situs, but also to provide spatial guidance according to a surgical plan. However, superposition of the two haptic information can lead to overlapping and masking of the feedback and guidance forces. This study investigates different approaches toward a combination of both information and investigates effects on system usability.<\/jats:p>\n<\/jats:sec><jats:sec>\n<jats:title>Methods<\/jats:title>\n<jats:p>Preliminary studies are conducted to define parameters for two main experiments. The two main experiments constitute simulated surgical interventions where haptic guidance as well as haptic feedback provide information for the surgeon. The first main experiment considers drilling for pedicle screw placements, while the second main experiment refers to three-dimensional milling tasks such as during partial knee replacements or craniectomies. For both experiments, different guidance modes in combination with haptic feedback are evaluated regarding effectiveness (e.g., distance to target depth), efficiency and user satisfaction (e.g., detectability of discrepancies in case of technical guidance error).<\/jats:p>\n<\/jats:sec><jats:sec>\n<jats:title>Results<\/jats:title>\n<jats:p>Regarding pedicle screw placements a combination of a peripheral visual signal and a vibration constitutes a good compromise regarding distance to target depth and detectability of discrepancies. For milling tasks, trajectory guidance is able to improve efficiency and user satisfaction (e.g., perceived workload), while boundary constraints improve effectiveness. If, assistance cannot be offered in all degrees of freedom (e.g., craniectomies), a visual substitution of the haptic force feedback shows the best results, though participants prefer using haptic force feedback.<\/jats:p>\n<\/jats:sec><jats:sec>\n<jats:title>Conclusion<\/jats:title>\n<jats:p>Our results suggest that in case haptic feedback and haptic assistance are combined appropriately, benefits of both haptic modalities can be exploited. Thereby, capabilities of the human\u2013machine system are improved compared to usage of exclusively one of the haptic information.<\/jats:p>\n<\/jats:sec>","DOI":"10.1007\/s11548-020-02118-x","type":"journal-article","created":{"date-parts":[[2020,1,30]],"date-time":"2020-01-30T17:04:27Z","timestamp":1580403867000},"page":"515-529","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":21,"title":["Augmentation of haptic feedback for teleoperated robotic surgery"],"prefix":"10.1007","volume":"15","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5676-3726","authenticated-orcid":false,"given":"Philipp","family":"Schleer","sequence":"first","affiliation":[]},{"given":"Philipp","family":"Kaiser","sequence":"additional","affiliation":[]},{"given":"Sergey","family":"Drobinsky","sequence":"additional","affiliation":[]},{"given":"Klaus","family":"Radermacher","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2020,1,30]]},"reference":[{"key":"2118_CR1","doi-asserted-by":"crossref","unstructured":"Troccaz J, Peshkin M, Davies B (1998) Synergistic mechanical devices: a new generation of medical robots. In: Robotics research. Springer, pp 317\u2013323","DOI":"10.1007\/978-1-4471-1580-9_30"},{"issue":"10","key":"2118_CR2","doi-asserted-by":"publisher","first-page":"1673","DOI":"10.1007\/s11548-019-01927-z","volume":"14","author":"P Schleer","year":"2019","unstructured":"Schleer P, Drobinsky S, de la Fuente M, Radermacher K (2019) Toward versatile cooperative surgical robotics: a review and future challenges. Int J Comput Assist Radiol Surg 14(10):1673\u20131686","journal-title":"Int J Comput Assist Radiol Surg"},{"key":"2118_CR3","doi-asserted-by":"publisher","first-page":"313","DOI":"10.1007\/s00464-007-9727-5","volume":"22","author":"DM Herron","year":"2008","unstructured":"Herron DM, Marohn M (2008) A consensus document on robotic surgery. Surg Endosc 22:313\u2013325","journal-title":"Surg Endosc"},{"key":"2118_CR4","doi-asserted-by":"publisher","first-page":"499","DOI":"10.1108\/01439910410566362","volume":"31","author":"AM Okamura","year":"2004","unstructured":"Okamura AM (2004) Methods for haptic feedback in teleoperated robot-assisted surgery. Ind Robot Int J 31:499\u2013508","journal-title":"Ind Robot Int J"},{"key":"2118_CR5","doi-asserted-by":"publisher","first-page":"349","DOI":"10.1016\/S1072-7515(99)00184-2","volume":"189","author":"OS Bholat","year":"1999","unstructured":"Bholat OS, Haluck RS, Murray WB, Gorman PJ, Krummel TM (1999) Tactile feedback is present during minimally invasive surgery. J Am Coll Surg 189:349\u2013355","journal-title":"J Am Coll Surg"},{"key":"2118_CR6","doi-asserted-by":"crossref","unstructured":"Wagner CR, Stylopoulos N, Howe RD (2002) The role of force feedback in surgery: analysis of blunt dissection. In: Proceedings 10th symposium on haptic interfaces for virtual environment and teleoperator systems. HAPTICS 2002. Citeseer, pp 68\u201374","DOI":"10.1109\/HAPTIC.2002.998943"},{"key":"2118_CR7","doi-asserted-by":"publisher","first-page":"495","DOI":"10.1162\/105474601753132678","volume":"10","author":"A Kazi","year":"2001","unstructured":"Kazi A (2001) Operator performance in surgical telemanipulation. Presence Teleoper Virtual Environ 10:495\u2013510","journal-title":"Presence Teleoper Virtual Environ"},{"key":"2118_CR8","doi-asserted-by":"publisher","first-page":"3","DOI":"10.1080\/13645700701820242","volume":"17","author":"EP Westebring-van der Putten","year":"2008","unstructured":"Westebring-van der Putten EP, Goossens RHM, Jakimowicz JJ, Dankelman J (2008) Haptics in minimally invasive surgery\u2014a review. Minim Invasive Ther Allied Technol 17:3\u201316. https:\/\/doi.org\/10.1080\/13645700701820242","journal-title":"Minim Invasive Ther Allied Technol"},{"key":"2118_CR9","doi-asserted-by":"publisher","first-page":"138","DOI":"10.1109\/TRO.2013.2283410","volume":"30","author":"SA Bowyer","year":"2014","unstructured":"Bowyer SA, Davies BL, y Baena FR (2014) Active constraints\/virtual fixtures: a survey. IEEE Trans Robot 30:138\u2013157","journal-title":"IEEE Trans Robot"},{"key":"2118_CR10","doi-asserted-by":"crossref","unstructured":"Park S, Howe RD, Torchiana DF (2001) Virtual fixtures for robotic cardiac surgery. In: International conference on medical image computing and computer-assisted intervention. Springer, pp 1419\u20131420","DOI":"10.1007\/3-540-45468-3_252"},{"key":"2118_CR11","doi-asserted-by":"publisher","DOI":"10.1109\/VRAIS.1993.380795","author":"LB Rosenberg","year":"1993","unstructured":"Rosenberg LB (1993) Virtual fixtures: perceptual tools for telerobotic manipulation. Proc IEEE Virtual Real Annu Int Symp. https:\/\/doi.org\/10.1109\/VRAIS.1993.380795","journal-title":"Proc IEEE Virtual Real Annu Int Symp"},{"key":"2118_CR12","doi-asserted-by":"publisher","first-page":"97","DOI":"10.1016\/j.ifacol.2019.01.035","volume":"51","author":"P Schleer","year":"2019","unstructured":"Schleer P, Drobinsky S, Radermacher K (2019) Evaluation of different modes of haptic guidance for robotic surgery. IFAC-PapersOnLine 51:97\u2013103. https:\/\/doi.org\/10.1016\/j.ifacol.2019.01.035","journal-title":"IFAC-PapersOnLine"},{"key":"2118_CR13","doi-asserted-by":"publisher","first-page":"241","DOI":"10.1109\/TOH.2017.2786243","volume":"11","author":"E Olivieri","year":"2017","unstructured":"Olivieri E, Barresi G, Caldwell DG, Mattos LS (2017) Haptic feedback for control and active constraints in contactless laser surgery: concept, implementation, and evaluation. IEEE Trans Haptics 11:241\u2013254","journal-title":"IEEE Trans Haptics"},{"key":"2118_CR14","doi-asserted-by":"crossref","unstructured":"Smisek J, van Paassen MM, Schiele A (2015) Haptic guidance in bilateral teleoperation: effects of guidance inaccuracy. In: World haptics conference (WHC), 2015 IEEE. IEEE, pp 500\u2013505","DOI":"10.1109\/WHC.2015.7177762"},{"key":"2118_CR15","doi-asserted-by":"publisher","first-page":"164","DOI":"10.1109\/TOH.2015.2406708","volume":"8","author":"J van Oosterhout","year":"2015","unstructured":"van Oosterhout J, Wildenbeest JGW, Boessenkool H, Heemskerk CJM, de Baar MR, van der Helm FCT, Abbink DA (2015) Haptic shared control in tele-manipulation: effects of inaccuracies in guidance on task execution. IEEE Trans Haptics 8:164\u2013175","journal-title":"IEEE Trans Haptics"},{"key":"2118_CR16","doi-asserted-by":"publisher","first-page":"2808","DOI":"10.1523\/JNEUROSCI.15-04-02808.1995","volume":"15","author":"JC Makous","year":"1995","unstructured":"Makous JC, Friedman RM, Vierck CJ (1995) A critical band filter in touch. J Neurosci 15:2808\u20132818","journal-title":"J Neurosci"},{"key":"2118_CR17","doi-asserted-by":"publisher","first-page":"13","DOI":"10.1167\/11.5.13","volume":"11","author":"H Strasburger","year":"2011","unstructured":"Strasburger H, Rentschler I, J\u00fcttner M (2011) Peripheral vision and pattern recognition: a review. J Vis 11:13","journal-title":"J Vis"},{"key":"2118_CR18","doi-asserted-by":"crossref","unstructured":"Burke JL, Prewett MS, Gray AA, Yang L, Stilson FRB, Coovert MD, Elliot LR, Redden E (2006) Comparing the effects of visual-auditory and visual-tactile feedback on user performance: a meta-analysis. In: Proceedings of the 8th international conference on multimodal interfaces. ACM, pp 108\u2013117","DOI":"10.1145\/1180995.1181017"},{"key":"2118_CR19","unstructured":"Borys B-B (2015) Interaktionsuntersuchungen f\u00fcr haptisches feedback elektronischer Eingabeger\u00e4te (InterHapt): Schlussbericht: Projektlaufzeit: 01.05. 2014 bis 31.10. 2015. Universit\u00e4t Kassel, Fachgebiet Mensch-Maschine-Systemtechnik"},{"key":"2118_CR20","doi-asserted-by":"publisher","first-page":"185","DOI":"10.1136\/oem.48.3.185","volume":"48","author":"N Harada","year":"1991","unstructured":"Harada N, Griffin MJ (1991) Factors influencing vibration sense thresholds used to assess occupational exposures to hand transmitted vibration. Occup Environ Med 48:185\u2013192","journal-title":"Occup Environ Med"},{"key":"2118_CR21","unstructured":"H\u00f6lscher U, Laurig W, M\u00fcller-Arnecke HW (2008) Prinzipl\u00f6sungen zur ergonomischen Gestaltung von Medizinger\u00e4ten: Erkenntnisse, Empfehlungen und Prinzipl\u00f6sungen zur ergonomischen Produktgestaltung am Beispiel der Gebrauchstauglichkeit von Medizinger\u00e4ten; Forschung Projekt F 1902;[Abschlussbericht]. Bundesanst. f\u00fcr Arbeitsschutz und Arbeitsmedizin"},{"key":"2118_CR22","unstructured":"Peon AR, Prattichizzo D (2013) Reaction times to constraint violation in haptics: comparing vibration, visual and audio stimuli. In: World haptics conference (WHC), 2013. IEEE, pp 657\u2013661"},{"key":"2118_CR23","doi-asserted-by":"publisher","first-page":"1200","DOI":"10.2106\/00004623-199508000-00009","volume":"77","author":"AR Vaccaro","year":"1995","unstructured":"Vaccaro AR, Rizzolo SJ, Balderston RA, Allardyce TJ, Garfin SR, Dolinskas C, An HS (1995) Placement of pedicle screws in the thoracic spine. Part II: an anatomical and radiographic assessment. JBJS 77:1200\u20131206","journal-title":"JBJS"},{"key":"2118_CR24","unstructured":"Brix C (2008) Platzierung von Pedikelschrauben mit einer mechanischen Zielhilfe im Vergleich zur konventionellen Methode-erste klinische Ergebnisse"},{"key":"2118_CR25","doi-asserted-by":"publisher","first-page":"112","DOI":"10.5312\/wjo.v5.i2.112","volume":"5","author":"V Puvanesarajah","year":"2014","unstructured":"Puvanesarajah V, Liauw JA, Lo S, Lina IA, Witham TF (2014) Techniques and accuracy of thoracolumbar pedicle screw placement. World J Orthop 5:112","journal-title":"World J Orthop"},{"key":"2118_CR26","doi-asserted-by":"publisher","first-page":"357","DOI":"10.1109\/TMECH.2012.2237179","volume":"19","author":"Y Hu","year":"2013","unstructured":"Hu Y, Jin H, Zhang L, Zhang P, Zhang J (2013) State recognition of pedicle drilling with force sensing in a robotic spinal surgical system. IEEE\/ASME Trans Mechatron 19:357\u2013365","journal-title":"IEEE\/ASME Trans Mechatron"},{"key":"2118_CR27","doi-asserted-by":"publisher","first-page":"273","DOI":"10.1007\/s00371-007-0101-3","volume":"23","author":"C Preusche","year":"2007","unstructured":"Preusche C, Hirzinger G (2007) Haptics in telerobotics. Vis Comput 23:273\u2013284","journal-title":"Vis Comput"},{"key":"2118_CR28","doi-asserted-by":"publisher","first-page":"727","DOI":"10.1586\/17434440.2015.1086264","volume":"12","author":"S Banerjee","year":"2015","unstructured":"Banerjee S, Cherian JJ, Elmallah RK, Jauregui JJ, Pierce TP, Mont MA (2015) Robotic-assisted knee arthroplasty. Expert Rev Med Devices 12:727\u2013735","journal-title":"Expert Rev Med Devices"},{"key":"2118_CR29","unstructured":"Bast P (2010) Sicherheitsstrategie f\u00fcr ein Parallelrobotersystem beim Einsatz in der cranialen Neurochirurgie: ein Beitrag aus dem Lehrstuhl f\u00fcr Medizintechnik der RWTH Aachen. Shaker"},{"key":"2118_CR30","doi-asserted-by":"publisher","first-page":"441","DOI":"10.1243\/09544119JEIM596","volume":"224","author":"V Cunha-Cruz","year":"2010","unstructured":"Cunha-Cruz V, Follmann A, Popovic A, Bast P, Wu T, Heger S, Engelhardt M, Schmieder K, Radermacher K (2010) Robot-and computer-assisted craniotomy (CRANIO): from active systems to synergistic man\u2014machine interaction. Proc Inst Mech Eng Part H J Eng Med 224:441\u2013452","journal-title":"Proc Inst Mech Eng Part H J Eng Med"},{"key":"2118_CR31","doi-asserted-by":"crossref","unstructured":"Wiles AD, Thompson DG, Frantz DD (2004) Accuracy assessment and interpretation for optical tracking systems. In: Medical imaging 2004: visualization, image-guided procedures, and display. International Society for Optics and Photonics, pp 421\u2013432","DOI":"10.1117\/12.536128"},{"key":"2118_CR32","doi-asserted-by":"publisher","first-page":"168","DOI":"10.1002\/rcs.85","volume":"2","author":"P Bast","year":"2006","unstructured":"Bast P, Popovic A, Wu T, Heger S, Engelhardt M, Lauer W, Radermacher K, Schmieder K (2006) Robot-and computer-assisted craniotomy: resection planning, implant modelling and robot safety. Int J Med Robot Comput Assist Surg 2:168\u2013178","journal-title":"Int J Med Robot Comput Assist Surg"},{"key":"2118_CR33","doi-asserted-by":"crossref","first-page":"637","DOI":"10.1515\/cdbme-2016-0140","volume":"2","author":"M Hollensteiner","year":"2016","unstructured":"Hollensteiner M, F\u00fcrst D, Esterer B, Hunger S, Malek M, Augat P, Schr\u00f6dl F, Stephan D, Schrempf A (2016) Development of parietal bone surrogates for parietal graft lift training. Curr Dir Biomed Eng 2:637\u2013641","journal-title":"Curr Dir Biomed Eng"},{"issue":"9","key":"2118_CR34","doi-asserted-by":"publisher","first-page":"904","DOI":"10.1177\/154193120605000909","volume":"50","author":"Sandra G. Hart","year":"2006","unstructured":"Hart SG (2006) NASA-task load index (NASA-TLX); 20\u00a0years later. In: Proceedings of the human factors and ergonomics society annual meeting. Sage Publications Sage CA, Los Angeles, CA, pp 904\u2013908","journal-title":"Proceedings of the Human Factors and Ergonomics Society Annual Meeting"},{"key":"2118_CR35","first-page":"4","volume":"189","author":"J Brooke","year":"1996","unstructured":"Brooke J (1996) SUS\u2014a quick and dirty usability scale. Usabil Eval Ind 189:4\u20137","journal-title":"Usabil Eval Ind"},{"key":"2118_CR36","doi-asserted-by":"publisher","first-page":"1950004","DOI":"10.1142\/S2424905X19500041","volume":"4","author":"D Black","year":"2019","unstructured":"Black D, Lilge S, Fellmann C, Reinschluessel AV, Kreuer L, Nabavi A, Hahn HK, Kikinis R, Burgner-Kahrs J (2019) Auditory display for telerobotic transnasal surgery using a continuum robot. J Med Robot Res 4:1950004","journal-title":"J Med Robot Res"}],"container-title":["International Journal of Computer Assisted Radiology and Surgery"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s11548-020-02118-x.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s11548-020-02118-x\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s11548-020-02118-x.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,1,29]],"date-time":"2021-01-29T00:47:21Z","timestamp":1611881241000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s11548-020-02118-x"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,1,30]]},"references-count":36,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2020,3]]}},"alternative-id":["2118"],"URL":"https:\/\/doi.org\/10.1007\/s11548-020-02118-x","relation":{},"ISSN":["1861-6410","1861-6429"],"issn-type":[{"value":"1861-6410","type":"print"},{"value":"1861-6429","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,1,30]]},"assertion":[{"value":"9 October 2019","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"13 January 2020","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"30 January 2020","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Compliance with ethical standards"}},{"value":"The authors declare that they have no conflicts of interest.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}},{"value":"This article does not contain any studies with animals performed by any of the authors. This article does not contain patient data.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Human and animal rights"}},{"value":"Informed consent was obtained from all individual participants included in the study.","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"Informed consent"}}]}}