Using comanipulation with active force feedback to undistort stiffness perception in laparoscopy
François Schmitt, Josue Sulub, Ignacio Avellino, Jimmy Da Silva, Laurent Barbé, Olivier Piccin, Bernard Bayle, Guillaume Morel
Abstract
Surgeons performing laparoscopic surgery experience distortion when perceiving the stiffness of a patient's tissues. This is due to the lever effect induced by the introduction of instruments in their patient's body through a fulcrum. To address this problem, we propose to use the comanipulation paradigm. A robotic device is connected to the handle of the instrument while simultaneously being held by the surgeon. This device applies a force on the handle that reflects the force measured at the tool tip, with a gain that depends on the lever ratio. The implementation of this method is presented on an experimental setup and a preliminary assessment experiment is presented.
BibTeX
@inproceedings{icra2019_usingcomanipulat,
title = {Using comanipulation with active force feedback to undistort stiffness perception in laparoscopy},
author = {François Schmitt and Josue Sulub and Ignacio Avellino and Jimmy Da Silva and Laurent Barbé and Olivier Piccin and Bernard Bayle and Guillaume Morel},
booktitle = {ICRA 2019},
year = {2019}
}