Table 2.
Overview of force feedback mechanism reported.
| Study | Feedback groups | Task | Speciality | Mean of average forces pre-feedback | Mean of average forces post-feedback | Absolute Difference | % Difference |
|---|---|---|---|---|---|---|---|
| Gonenc 2012 | Audio (vs. no feedback) | Sharp penetration | Ophthalmology (robotic) | 0.1 | 0.07 | 0.03 | 30% |
| Horeman 2013 | Visual force feedback (vs. visual time feedback) | Retraction with Grasping | General surgery (laparoscopic) | 0.79 (Visual time feedback) | 0.51 (Visual force feedback) | 0.28 | 35.4% |
| Alleblas 2017 | Haptic (vs. no feedback) | Retraction with Grasping | General surgery (laparoscopic) | 4.6 | 1.7 | 2.9 | 63% |
| Diez 2018 | Haptic (vs. no feedback) | Multiple (laparoscopic tasks) | Obstetrics and Gynaecology (laparoscopic) | 0.81 | 0.48 | 0.33 | 40.7% |
| Ebrahimi 2018 | Haptic (vs. no feedback) | Sharp penetration | Ophthalmology (robotic) | 0.12 | 0.09 | 0.03 | 25% |
| Ebrahimi 2018 | Audio (vs. no feedback) | Sharp penetration | Ophthalmology (robotic) | 0.12 | 0.08 | 0.04 | 33.3% |
| Wottawa 2016 | Tactile (vs. no feedback) | Retraction with Grasping | General surgery (laparoscopic) | 3.4 | 2.3 | 1.1 | 32.4% |
| Horeman 2012 | Visual (vs. no feedback) | Sharp penetration | General surgery (laparoscopic) | 2.6 | 1.3 | 1.3 | 50% |