Development of a trocar insertion device with a control method to gentle the force fluctuation during insertion

摘要

Trocar insertion has been extensively cited as a cause of surgical injury, because in most cases it is performed using only haptic sensations of the operator. Besides, trocar insertionnow is almost done by human beings. It requires great skill to avoid overshooting and some strength. So it is difficult for novice doctors, especially woman doctors. Hence, to avoid injury to patient viscera and arteries, to make the trocar insertion safer,we developed a kind of trocar insertion device. It can not only insert the trocar, but also remain the abdominal wall lifting to restrain abdominal deformation during insertion.In terms of the intense force fluctuation when insertion by this device, weproposed a control method, whichis Impedance-Force-Impedance control (IFI control).Finally, we verified this controller by exvivo experiment. It proves that it can gentle the force fluctuation effectively.