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The lack of haptic feedback in Robot-assisted Minimally Invasive Surgery(RMIS) is a potential barrier to safe tissue handling during surgery. Bayesianmodeling theory suggests that surgeons with experience in open or laparoscopicsurgery can develop priors of tissue stiffness that translate to better forceestimation abilities during RMIS compared to surgeons with no experience. Totest if prior haptic experience leads to improved force estimation ability inteleoperation, 33 participants were assigned to one of three trainingconditions: manual manipulation, teleoperation with force feedback, orteleoperation without force feedback, and learned to tension a silicone sampleto a set of force values. They were then asked to perform the tension task, anda previously unencountered palpation task, to a different set of force valuesunder teleoperation without force feedback. Compared to the teleoperationgroups, the manual group had higher force error in the tension task outside therange of forces they had trained on, but showed better speed-accuracy functionsin the palpation task at low force levels. This suggests that the dynamics ofthe training modality affect force estimation ability during teleoperation,with the prior haptic experience accessible if formed under the same dynamicsas the task.

Task Dynamics of Prior Training Influence Visual Force Estimation Ability During Teleoperation