Analysis of the Surgery Task for the Force Feedback Amplification in the Minimally Invasive Surgical System

This paper presents a new method of amplifying the small reaction force in the minimally invasive surgical system according to the surgeon's intended action. For this purpose, the analysis of the laparoscopic cholecystectomy procedure is first studied. The procedure is broken down and analyzed for the necessary forceps actions based on the degrees of freedom of the surgical tool and the task to be performed. For this system, there are seven necessary forceps actions. Then the concept of the force feedback augmentation has been proposed. It amplifies the small reaction force in specific directions according to the surgeon's intended action. Each action determines how the reaction force should be amplified