Publication
In this paper, we present an experimental evaluation of tactile feedback for remote needle insertion in soft tissues. A needle with tip force sensing is used to detect changes of tissues and puncture events during insertion. This information is provided to the user during teleoperation by means of a tactile display. Evaluation is conducted by reproducing needle insertion as performed during biopsy procedures in the liver. Needle tip force sensing makes the measurement of tissue change and puncture easier compared to force measurement at the base of the needle. Puncture events are correctly understood by the users. Change of tissue is also satisfactorily detected, which could be an interesting additional information for the user to perform surgical gesture.