Force feedback requirements for efficient laparoscopic grasp control
Force feedback requirements for efficient laparoscopic grasp control
复制标题
有效腹腔镜抓取控制的力反馈要求
作者：
Eleonora P. Westebring;J. J. van den Dobbelsteen;R. Goossens;J. Jakimowicz;J. Dankelman
在腹腔镜夹持过程中，由于使用过度的夹持力和组织滑动，可能会发生组织损伤，而在徒手夹持中，人类控制其夹持以防止滑动和使用过度的力（安全夹持）。本研究探讨了徒手和腹腔镜托举过程中抓握控制的差异。10名新手在四种条件下进行托举，以比较捏力：徒手;使用镊子;低效抓钳;高效抓钳。结果显示，参与者在徒手提升（拉力水平为2.63 N）时比腹腔镜提升（拉力水平为0.77至1.08 N）时显着增加了捏力。在徒手移位中，所有参与者都可以完成安全抓握，而在腹腔镜移位中，经常发生过度用力（高达7.9 N）和滑动（高达38%的试验）。对于新手，可以得出结论，力反馈（除了手工具接口），在皮肤组织接触，是一个先决条件，以保持安全的把握。在徒手物体操作过程中的抓握控制，特别是捏力的控制，以改变负载，而鲜为人知的是，在工具使用过程中的力的感知和把握控制。这些知识是用于操纵物体的工具的人体工程学设计的先决条件。
During laparoscopic grasping, tissue damage may occur due to use of excessive grasp forces and tissue slippage, whereas in barehanded grasping, humans control their grasp to prevent slippage and use of excessive force (safe grasp). This study investigates the differences in grasp control during barehanded and laparoscopic lifts. Ten novices performed lifts in order to compare pinch forces under four conditions: barehanded; using tweezers; a low-efficient grasper; and a high-efficient grasper. Results showed that participants increased their pinch force significantly later during a barehanded lift (at a pull-force level of 2.63 N) than when lifting laparoscopically (from pull-force levels of 0.77 to 1.08 N). In barehanded lifts all participants could accomplish a safe grasp, whereas in laparoscopic lifts excessive force (up to 7.9 N) and slippage (up to 38% of the trials) occurred frequently. For novices, it can be concluded that force feedback (additional to the hand-tool interface), as in skin-tissue contact, is a prerequisite to maintain a safe grasp. Much is known about grasp control during barehanded object manipulation, especially the control of pinch forces to changing loading, whereas little is known about force perception and grasp control during tool usage. This knowledge is a prerequisite for the ergonomic design of tools that are used to manipulate objects.