Analysis of the surgery task for the force feedback amplification in the minimally invasive surgical system

Phongsaen Pitakwatchara; Shin-ichi Warisawa; Mamoru Mitsuishi

doi:10.1109/IEMBS.2006.259933

Analysis of the surgery task for the force feedback amplification in the minimally invasive surgical system

Conf Proc IEEE Eng Med Biol Soc. 2006:2006:829-32. doi: 10.1109/IEMBS.2006.259933.

Authors

Phongsaen Pitakwatchara¹, Shin-ichi Warisawa, Mamoru Mitsuishi

Affiliation

¹ Tokyo University, 7-3-1 Hongo, Bunkyo-ku, Tokyo, Japan. phong@nml.t.u-tokyo.ac,jp

PMID: 17946005
DOI: 10.1109/IEMBS.2006.259933

Abstract

This paper presents a new method of amplifying the small reaction force in the minimally invasive surgical system according to the surgeon's intended action. For this purpose, the analysis of the laparoscopic cholecystectomy procedure is first studied. The procedure is broken down and analyzed for the necessary forceps actions based on the degrees of freedom of the surgical tool and the task to be performed. For this system, there are seven necessary forceps actions. Then the concept of the force feedback augmentation has been proposed. It amplifies the small reaction force in specific directions according to the surgeon's intended action. Each action determines how the reaction force should be amplified.

Publication types

Research Support, Non-U.S. Gov't

MeSH terms

Cholecystectomy, Laparoscopic / methods*
Computer Simulation
Feedback
Humans
Minimally Invasive Surgical Procedures / methods*
Models, Biological*
Stress, Mechanical
Surgery, Computer-Assisted / methods*
Touch*