Control Strategy at Different Instrument Points Using Lever Model in Laparoscopic Surgery

In laparoscopic surgery, the long rigid instrument increases the trembling of the surgeon's hands [1]. To smooth the motion, an assisted robotic arm can be used to apply a viscous force to the instrument to filter out the tremor [2]. The position at which the viscous control is used could have a different effect on the surgeon's performance due to the lever effect. We designed a series of experiments to investigate and compare the performance of controllers in different positions.