Estimation of Friction Force in Minimally Invasive Surgery with Tactile Sensors

Abstract

This study investigates coefficient of friction of flat-tipped laparoscopic surgery tool (bowel grasper) in an ex vivo experiment in order to identify the approximate coefficient of friction between laparoscopic tool and the organic sample. The estimation of friction force is essential for ensuring safe grasping. The friction tribometer and the laparoscopic grasper setup were the two experimental setups to conclude the friction of the tool in the absence tactile sensor. The measurement of the pinch force and estimation of the friction force from the measured pinch force and the coefficient of friction is suitable for novice surgeon training.