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Perception of Stiffness in Laparoscopy – the Fulcrum Effect
Ilana Nisky, Felix Huang, Amit Milstein, Carla M. Pugh, Ferdinando A. Mussa-Ivaldi, Amir Karniel
313 - 319
10.3233/978-1-61499-022-2-313
Studies in Health Technology and Informatics
Volume 173: Medicine Meets Virtual Reality 19
Abstract

We explored how the perception of stiffness can be distorted in Minimally Invasive Surgery. We combined a mechanical simulator with a haptic device, and implemented linear springs at the tip of the simulated laparoscopic device. To explore the influence of mechanical advantage on perception, we set different values of the ratio between internal and external length of the tool. We found that a nonsymmetrical ratio causes bias in the perceived stiffness when novice tangential probing is compared to radial probing. In contrast, haptic experts did not show similar perceptual bias.

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