Related Experiment Video
Updated: Jul 8, 2026
06:31
Force and Position Control in Humans - The Role of Augmented Feedback
Published on: June 19, 2016
[Evaluation of force data with a force/torque sensor during FESS. A step towards robot-assisted surgery]
K W G Eichhorn1, K Tingelhoff, I Wagner
1Klinik und Poliklinik für Hals-Nasen-Ohren-Heilkunde/Chirurgie, Universitätsklinikum Bonn, Sigmund-Freud-Strasse 25, 53105 Bonn. klaus.eichhorn@ukb.uni-bonn.de
HNO
|January 23, 2008
Summary
Autonomous robot assistance for functional endoscopic sinus surgery (FESS) requires understanding forces on the endoscope. Forces up to 7 N are sufficient for guidance, with higher forces needed for frontal and maxillary sinuses.
Area of Science:
- Otolaryngology
- Robotics in Surgery
- Surgical Navigation
Background:
- Functional endoscopic sinus surgery (FESS) can be improved with autonomous robot assistance.
- Robot assistance frees surgeons' hands for suctioning and manipulation during FESS.
Purpose of the Study:
- To quantify forces acting on the endoscope during FESS.
- To determine force thresholds for effective endoscopic guidance in FESS.
Main Methods:
- Force/torque sensors measured six degrees of freedom forces on the endoscope.
- Measurements were taken in five cadaver heads and 20 FESS procedures.
- Continuous force monitoring was performed during dissection and surgery.
Main Results:
- Mean forces on the endoscope were 3.2 N.
- Peak forces reached up to 25.2 N, with 95% of forces below 7 N.
- In vivo and ex vivo data showed only slight differences.
Conclusions:
- Forces up to 7 N are adequate for endoscopic guidance in FESS.
- Sensor-based robot guidance can optimize peak forces during FESS.
- Frontal and maxillary sinus surgery requires higher forces than ethmoid sinus surgery.
Related Concept Videos
01:23Simplification of a Force and Couple System: II
In a three-dimensional system, multiple forces can act on an object. These forces can be combined into a single equivalent force, known as the resultant force. Similarly, the moments generated by these forces can be combined into a single equivalent moment, the resultant couple moment. In certain situations, these two entities may not be mutually perpendicular, meaning they do not have a 90-degree angle between them. This unique condition requires a deeper understanding of the interplay between...
01:19Net Torque Calculations
When a mechanic tries to remove a hex nut with a wrench, it is easier if the force is applied at the farthest end of the wrench handle. The lever arm is the distance from the pivot point (the hex nut in this case) to the person’s hand. If this distance is large, the torque is higher. Only the component of the force perpendicular to the lever arm contributes to the torque. Therefore, pushing the wrench perpendicular to the lever arm is more advantageous. If multiple people apply force to rotate...