Resumen en español

Minimally Invasive Surgery and the adaptation of robotics to these procedures represent many advantages for the patient, the surgeon, and the health program. However, commercial devices used nowadays lack haptic feedback. This fact makes the tissue identification more difficult and increments the injuries risk during the surgical procedure. The development of systems with this kind of feedback has become a topic of interest throughout the world. The present article contains a revision of the state of the art about commercial and experimental systems developed in this area. Models for the force and torque propagation, used in Minimally Invasive Surgery, are also presented.