Haptic feedback in the da Vinci Research Kit (dVRK): A user study based on grasping, palpation, and incision tasks

It was suggested that the lack of haptic feedback, formerly considered a limitation for the da Vinci robotic system, does not affect robotic surgeons because of training and compensation based on visual feedback. However, conclusive studies are still missing, and the interest in force reflection is rising again.

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