Abstract
Feedback of the interaction force of the forceps tool within the abdominal environment can improve the performance of the surgical operation. Unfortunately, force amplitude is often too small to perceive. Moreover, the interaction force is quite complex such that it hides the essence of the important reaction force of the intended action. Yet it has been observed that the surgeon often needs to concentrate on the reaction force in specific directions, in accordance with his intended action. Automatic force feedback augmentation has been proposed to solve the stated problems. First, the forceps action is determined in real time from the force and motion pattern. The reaction force is then amplified naturally according to the identified forceps action. As a result, only the simple but significant reaction force patterns are emphasized. Complex behavior of the reaction force, which may distract or deteriorate the intended action, is attenuated. Preliminary experiments have been conducted to verify the advantages of the proposed method.
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Pitakwatchara, P., Warisawa, Si., Mitsuishi, M. (2008). Automatic Determination of the Actions and Force Feedback Augmentation in the Minimal Invasive Surgical System. In: Khatib, O., Kumar, V., Rus, D. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 39. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-77457-0_13
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DOI: https://doi.org/10.1007/978-3-540-77457-0_13
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