Haptic Guidance for Robotic Surgery

Haptic assistance seems to be a very promising option to reduce the complexity of a surgical control task while keeping the surgeon in-the-loop and allowing intervention at any time during surgery. Based on experimental set-ups enabling the interactive simulation of different modes of feedback and levels of arbitration we perform user studies regarding different assistance functions to evaluate their effect on system usability. The aim is to identify appropriate configurations depending on the requirements of specific intraoperative scenarios as a basis for a comprehensive framework and modular user interfaces providing a flexible integration of cooperative robotic functionalities suited to the needs of a particular surgical scenario.


  • S. Drobinsky, M. de la Fuente, B. Puladi & K. Radermacher: Accuracy of on-site teleoperated milling with haptic assistance. International Journal of Computer Assisted Radiology and Surgery, 2023, 18, pp. 1969-1976 [DOI: 10.1007/s11548-023-02983-2]
  • M. Vossel, L. Theisgen, K. Radermacher & M. de la Fuente: Accuracy Evaluation of Image-Based Virtual Fixtures in Robotic Laminectomy. In: F. Rodriguez Y Baena, J.W. Giles & E. Stindel (ed.): Proceedings of The 20th Annual Meeting of the International Society for Computer Assisted Orthopaedic Surgery, 5, 2022, pp. 180-184 [DOI: 10.29007/cr5c]
  • S. Drobinsky, T. Lindemann, P. Schleer & K. Radermacher: Usability of Haptic Volumetric Assistance for Surgical Navigation Tasks. Current Directions in Biomedical Engineering, 7(1), 2021, pp. 11-16 [DOI: 10.1515/cdbme-2021-1003]
  • L. Phlippen, M. Vossel, M. de la Fuente & K. Radermacher: Development and evaluation of a straightforward method to identify the elastic structure of a lightweight robot. 2021 European Control Conference (ECC), 2021, pp. 1925-1930 [DOI: 10.23919/ECC54610.2021.9655052]
  • S. Drobinsky, M. Verjans, P. Schleer, B. Kolk, H. Bensiek, K. Radermacher & A. Janß: Workflow and Human-Centered Risk Analysis for Novel Mechatronic Rescue Aids. Current Directions in Biomedical Engineering, 6(3), 2020, pp. 1-4 [DOI: 10.1515/cdbme-2020-3156]
  • P. Schleer, D. Körner, M. Vossel, S. Drobinsky & K. Radermacher: Conceptual design of force reflection control for teleoperated bone surgery. Current Directions in Biomedical Engineering, 6(1), 2020, pp. 1-5 [DOI: 10.1515/cdbme-2020-0014]
  • P. Schleer, P. Kaiser, S. Drobinsky & K. Radermacher: Augmentation of haptic feedback for teleoperated robotic surgery. International Journal of Computer Assisted Radiology and Surgery, 2020, 15, pp. 515-529 [DOI: 10.1007/s11548-020-02118-x]
  • P. Schleer, M. Vossel, L. Heckmann, S. Drobinsky, L. Theisgen, M. de la Fuente & K. Radermacher: Usability of cooperative surgical telemanipulation for bone milling tasks. International Journal of Computer Assisted Radiology and Surgery (IJCARS), 2020, 16(2), pp. 311-322 [DOI: 10.1007/s11548-020-02296-8]
  • P. Schleer, S. Drobinsky & K. Radermacher: Evaluation of Different Modes of Haptic Guidance for Robotic Surgery. In: B. Mettler (ed.): IFAC-PapersOnLine, 51(34), 2019, pp. 97-103 [DOI: 10.1016/j.ifacol.2019.01.035]
  • P. Schleer, S. Drobinsky, M. de la Fuente & K. Radermacher: Toward versatile cooperative surgical robotics: a review and future challenges. Int J CARS, 2019, 14, pp. 1673–1686 [DOI: 10.1007/s11548-019-01927-z]
  • P. Schleer, S. Drobinsky, T. Hmaid & K. Radermacher: Haptic Modes for Multiparameter Control in Robotic Surgery. Medical Image Computing and Computer Assisted Intervention – MICCAI 2019 22nd International Conference Shenzhen, China, October 13–17, 2019 Proceedings, Part V, 11768, 2019, pp. 173-181 [DOI: 10.1007/978-3-030-32254-0_20]