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In order to define what haptics to provide to surgeons during MIS (minimally invasive surgery), it is important to determine what a surgeon experiences via the tactile modality during conventional and laparoscopic surgery. We performed a set of experiments towards this goal using a laparoscopic tool during a push and gasp task, using an Omni haptic device to simulate the elastic properties of biological tissue. We found attenuation during both tasks, more so for passive (pushing) than active (gasping) activities.
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