This chapter focuses on the use of haptics in soft-tissue surgery robots, with the goal of bringing together the clinical context, underlying technologies, and cutting-edge applications in this area. First, the fundamentals of haptics are presented, using the human sensory system as an example that serves as a technology development benchmark. A review of the clinical context is then presented in the chapter, which identifies surgical areas and procedures of particular interest to robotics before presenting key clinical issues with the potential to be solved through the application of haptic technology. The basic building blocks of haptics, sensing and feedback systems are then applied to provide an understanding of the fundamental haptics, sensing and feedback systems. A study of haptics applied to surgical robots is provided from this base, highlighting key commercial systems along with research advances. The chapter concludes with a review of emerging developments in the field as well as the remaining technical and clinical challenges.
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