Design of a sensorized instrument for skills assessment and training in minimally invasive surgery

The restricted access conditions during minimally invasive surgery (MIS) result in perceptual-motor relationships that are unfamiliar to the novice surgeon and require training to overcome. To aid in MIS skills assessment and training, a novel sensorized instrument has been designed. Strain gauges attached to the instrument measure forces and torques acting at its tip, corresponding to all 5 degrees of freedom (DOFs) available during MIS. A position tracker provides tip motion feedback in 6 DOFs. The instrument is similar in shape, size and weight to traditional laparoscopic instruments, allowing it to be used in any MIS training environment. Furthermore, replaceable tips and handles make the instruments highly versatile. The results of the experimental evaluation show that there are clear differences in both the force and position profiles of trainees and surgeons with different levels of experience.