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

Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference Pub Date : 2006-01-01 DOI:10.1109/IEMBS.2006.259933

Phongsaen Pitakwatchara, Shin-ichi Warisawa, Mamoru Mitsuishi

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引用次数: 3

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.

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微创手术系统中力反馈放大的手术任务分析。

本文提出了一种根据外科医生的预期动作放大微创手术系统中小反作用力的新方法。为此，本文首先对腹腔镜胆囊切除术进行分析。根据手术工具的自由度和要执行的任务，对该程序进行分解并分析必要的钳动作。对于这个系统，有七个必要的钳动作。然后提出了力反馈增强的概念。它根据外科医生的预期动作在特定方向上放大小反作用力。每个动作决定了反作用力应该如何被放大。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference

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2.20

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