Feedback from sensory modalities is crucial for the precise grasping of tissues during
minimally invasive robotic surgery. The aims of the study are to determine the influence of
visual and haptic feedback on the detection of threshold forces and to evaluate the
applicability of the sensory integration model to a surgical grasping task. A sensorized
surgical grasper and a fingertip haptic force feedback device were used. Three types of
stimuli were presented (ie visual-alone, haptic-alone, and bimodal visual and haptic stimuli) …