Laparoscopic surgery reduces recovery time and risk of complications over conventional methods for abdominal procedures, making it particularly suited to battlefield medicine. However, laparoscopy challenges the surgeon to work under many limitations: motion is reflected about the trocar; access inside the body is restricted; visual feedback is generally only 2D; and haptic, or touch, information is reduced. As such, the importance of training for developing sensitivity to the existing haptic cues becomes apparent, and the problem arises of how to distribute the services of relatively few highly trained surgeons to widespread battlefield locations. A force-feedback haptic interface can play a critical role in both of these functions, providing realistic or enhanced sensations to a laparoscopy simulator or a telesurgery system. The work described was directed at continuing the work of earlier force-feedback systems, which provide up to the first three degrees of freedom (DOF) in laparoscopy (pitch, yaw, and insertion relative to the trocar), toward creating a complete and high-fidelity haptic interface. The resulting interface offers the surgeon real laparoscopic tools with force feedback to all five degrees of freedom in laparoscopy, using a lifelike torso in which trocar location is easily changed.
Development of a 5-DOF force feedback laparoscopic interface for simulation and telesurgery
2000
12 Seiten, 13 Quellen
Conference paper
English
DLR MiroSurge - A Versatile System for Research in Endoscopic Telesurgery
German Aerospace Center (DLR) | 2009
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