Abstract Due to high accuracy and minimal invasive, robotic surgery has been widely accepted by surgeons. However, the lack of intraoperative sense of touch (haptic feedback) can increase uncertainty and bring risks in the surgery, which is regarded as the biggest limitation of the robot surgery and require further development. In this article, haptic feedback system was reviewed from the system composition, key techniques and current research status. Haptic feedback includes force feedback and tactile feedback. The implementation of the system relies on the haptic sense and display.Commonly used haptic sensor, display device, sensory substitution techniques and the analysis on the corresponding advantages and disadvantages were introduced in the review. Research progress of the haptic feedback system in surgical robot was outlined as well. At last, the future research direction was suggested on the basis of the previous studies.
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