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.