Sensors for Expert Grip Force Profiling: Towards Benchmarking Manual Control of a Robotic Device for Surgical Tool Movements
<i>STRAS</i> (<i>S</i>ingle access <i>T</i>ransluminal <i>R</i>obotic <i>A</i>ssistant for <i>S</i>urgeons) is a new robotic system based on the Anubis<sup>®</sup> platform of Karl Storz for application to intra-lumi...
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| Format: | Article |
| Language: | English |
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MDPI AG
2019-10-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/19/20/4575 |
| _version_ | 1811186186581966848 |
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| author | Michel de Mathelin Florent Nageotte Philippe Zanne Birgitta Dresp-Langley |
| author_facet | Michel de Mathelin Florent Nageotte Philippe Zanne Birgitta Dresp-Langley |
| author_sort | Michel de Mathelin |
| collection | DOAJ |
| description | <i>STRAS</i> (<i>S</i>ingle access <i>T</i>ransluminal <i>R</i>obotic <i>A</i>ssistant for <i>S</i>urgeons) is a new robotic system based on the Anubis<sup>®</sup> platform of Karl Storz for application to intra-luminal surgical procedures. Pre-clinical testing of <i>STRAS</i> 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. <i>STRAS</i> 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 (<i>4-step-pick-and-drop</i>). 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. |
| first_indexed | 2024-04-11T13:42:34Z |
| format | Article |
| id | doaj.art-09ad4ae9e37146c4a6f261fd9dffba54 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-11T13:42:34Z |
| publishDate | 2019-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-09ad4ae9e37146c4a6f261fd9dffba542022-12-22T04:21:12ZengMDPI AGSensors1424-82202019-10-011920457510.3390/s19204575s19204575Sensors for Expert Grip Force Profiling: Towards Benchmarking Manual Control of a Robotic Device for Surgical Tool MovementsMichel de Mathelin0Florent Nageotte1Philippe Zanne2Birgitta Dresp-Langley3ICube Lab, UMR 7357 CNRS, Robotics Department, University of Strasbourg, 6700 Strasbourg, FranceICube Lab, UMR 7357 CNRS, Robotics Department, University of Strasbourg, 6700 Strasbourg, FranceICube Lab, UMR 7357 CNRS, Robotics Department, University of Strasbourg, 6700 Strasbourg, FranceICube Lab, UMR 7357 CNRS, Robotics Department, University of Strasbourg, 6700 Strasbourg, France<i>STRAS</i> (<i>S</i>ingle access <i>T</i>ransluminal <i>R</i>obotic <i>A</i>ssistant for <i>S</i>urgeons) is a new robotic system based on the Anubis<sup>®</sup> platform of Karl Storz for application to intra-luminal surgical procedures. Pre-clinical testing of <i>STRAS</i> 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. <i>STRAS</i> 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 (<i>4-step-pick-and-drop</i>). 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.https://www.mdpi.com/1424-8220/19/20/4575robotic assistant systems for surgeryexpertisepick-and-drop simulator taskgrip force profilesgrip force control |
| spellingShingle | Michel de Mathelin Florent Nageotte Philippe Zanne Birgitta Dresp-Langley Sensors for Expert Grip Force Profiling: Towards Benchmarking Manual Control of a Robotic Device for Surgical Tool Movements Sensors robotic assistant systems for surgery expertise pick-and-drop simulator task grip force profiles grip force control |
| title | Sensors for Expert Grip Force Profiling: Towards Benchmarking Manual Control of a Robotic Device for Surgical Tool Movements |
| title_full | Sensors for Expert Grip Force Profiling: Towards Benchmarking Manual Control of a Robotic Device for Surgical Tool Movements |
| title_fullStr | Sensors for Expert Grip Force Profiling: Towards Benchmarking Manual Control of a Robotic Device for Surgical Tool Movements |
| title_full_unstemmed | Sensors for Expert Grip Force Profiling: Towards Benchmarking Manual Control of a Robotic Device for Surgical Tool Movements |
| title_short | Sensors for Expert Grip Force Profiling: Towards Benchmarking Manual Control of a Robotic Device for Surgical Tool Movements |
| title_sort | sensors for expert grip force profiling towards benchmarking manual control of a robotic device for surgical tool movements |
| topic | robotic assistant systems for surgery expertise pick-and-drop simulator task grip force profiles grip force control |
| url | https://www.mdpi.com/1424-8220/19/20/4575 |
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