Method and device for assisting the handling of a medical instrument by a user

摘要

The invention relates to a method for assisting the manipulation of a medical instrument by a user, said medical instrument being coupled via one of its ends to a haptic robotic arm capable of returning a force to the user handling said instrument. medical device, so as to direct the medical instrument towards a target to be reached, positioned on the surface of body tissues. The method comprises the following steps: obtaining parameters representative of at least one pose of the medical instrument comprising at least the orientation or position of the medical instrument, or the target to be reached by said medical instrument, determining a force setpoint as a function of said parameters obtained, to generate the force to be returned to the user according to at least one degree of freedom, and assistance in handling the medical instrument by returning the force to a benchmark. Figure for the abstract: Fig. 2