Fiche publication
Date publication
octobre 2019
Journal
Sensors (Basel, Switzerland)
Auteurs
Membres identifiés du Cancéropôle Est :
Pr DE MATHELIN Michel
Tous les auteurs :
de Mathelin M, Nageotte F, Zanne P, Dresp-Langley B
Lien Pubmed
Résumé
(ingle access ransluminal obotic ssistant for urgeons) is a new robotic system based on the Anubis platform of Karl Storz for application to intra-luminal surgical procedures. Pre-clinical testing of has recently permitted to demonstrate major advantages of the system in comparison with classic procedures. Benchmark methods permitting to establish objective criteria for 'expertise' need to be worked out now to effectively train surgeons on this new system in the near future. consists of three cable-driven sub-systems, one endoscope serving as guide, and two flexible instruments. The flexible instruments have three degrees of freedom and can be teleoperated by a single user via two specially designed master interfaces. In this study, small force sensors sewn into a wearable glove to ergonomically fit the master handles of the robotic system were employed for monitoring the forces applied by an expert and a trainee (complete novice) during all the steps of surgical task execution in a simulator task (). Analysis of grip-force profiles is performed sensor by sensor to bring to the fore specific differences in handgrip force profiles in specific sensor locations on anatomically relevant parts of the fingers and hand controlling the master/slave system.
Mots clés
expertise, grip force control, grip force profiles, pick-and-drop simulator task, robotic assistant systems for surgery
Référence
Sensors (Basel). 2019 Oct 21;19(20):
