Matteo Bianchi, Leonardo S. Mattos, Giorgio Grioli, Manolo Garabini, Manuel G. Catalano, Antonio Bicchi

Abstract—This work aims at reviewing some of the current technological solutions for end-user interfaces in Robotic Surgery (RS). More specifically we consider vision-based computer assisted user interfaces and haptic feedback systems. As a second step we analyze some of the recent implementation of Variable Impedance Actuators (VIA), that might be used as a driven technology for the development of soft/stiffness controllable robot systems and actuation mechanisms in RS. Applications and future directions are also discussed.