Preprint Article Version 1 This version is not peer-reviewed

Sensors for Expert Grip Force Profiling: Towards Benchmarking Manual Control of a Robotic Device for Surgical Tool Movements

Version 1 : Received: 17 September 2019 / Approved: 18 September 2019 / Online: 18 September 2019 (13:07:40 CEST)

How to cite: de Mathelin, M.; Nageotte, F.; Zanne, P.; Dresp-Langley, B. Sensors for Expert Grip Force Profiling: Towards Benchmarking Manual Control of a Robotic Device for Surgical Tool Movements. Preprints 2019, 2019090208 (doi: 10.20944/preprints201909.0208.v1). de Mathelin, M.; Nageotte, F.; Zanne, P.; Dresp-Langley, B. Sensors for Expert Grip Force Profiling: Towards Benchmarking Manual Control of a Robotic Device for Surgical Tool Movements. Preprints 2019, 2019090208 (doi: 10.20944/preprints201909.0208.v1).

Abstract

STRAS (Single access Transluminal Robotic Assistant for Surgeons) is a flexible robotic system based on the Anubis® platform of Karl Storz for application to intra-luminal surgical procedures. It consists of three cable-driven systems, one endoscope serving as guide and two inserted instruments. The flexible and bendable instruments have three degrees of freedom and can be teleoperated by a single user via two specially designed master interfaces. In this research, a pair of specific sensor gloves, which ergonomically fit to the master handles of the system was designed and the forces applied by one expert and one novice user during system-specific task execution in a simulator task (4-step-pick-and-drop) were compared. The results show that user expertise is not only reflected by shorter task execution times but also, more importantly, by specific differences in handgrip force profiles for specific sensor locations on anatomically relevant parts of the fingers and hand controlling the surgical instruments of the robotic master/slave system.

Subject Areas

surgical robotics; wearable force-sensor systems; grip-force profiling; surgical expertise; robot-assisted surgery training

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