Force Feedback

Question 1

Size of instruments

Answer 1

8mm instruments

Question 2

6 FFB instruments

Answer 2

Large needle driver
Mega suture cut needle driver
cadiere forceps
prograsp forceps
fenestrated bipolar forceps
maryland bipolar forceps

Question 3

How does FFB work?

Answer 3

combines hardware and software to measure pulling and pushing forces at the instrument tips and sends these forces as FFB at the hand controls

Question 4

Where are the sensors positioned

Answer 4

in-between the inner and outer shafts

Question 5

Will forces be felt elsewhere on the instrument?

Answer 5

No, only at the tips of the instrument

Question 6

Can you feel grip?

Answer 6

No, instrument grip does no provide grip feedback or tactile feedback

Question 7

What are the 3 sensitivity levels

Answer 7

low, med (default), high

as well as the ability to turn it off

Question 8

What are the FFB instruments compatible with?

Answer 8

8mm hex cannulas
xi 8 mm cannulas
5-12 universal seal
5-8 cannula seal
12mm cannula
12-8 reducer

Question 9

How should I position the reducer for FFB instruments

Answer 9

orient the “8” marking on the top of the 12-8mm reducer toward the arm and cannula mount

if FFB fails, remove instrument, rotate reducer, and reinstall instrument

Question 10

How are FFB instruments identified?

Answer 10

FFB instrument name
Concentric rings around the arm number
sensitivity setting below arm number

Question 11

What does the user experience while on high sensitivity?

What about Med/low?

Answer 11

The force delivered to the hand controls is ~ 50% of the force applied at the instrument tips

Med/low further provide reductions in the forces felt at the hand controls

Question 12

When I change the sensitivity, does the force feedback on the instrument change?

Answer 12

No, the ability to apply force remains the same

Question 13

When FFB is changed Is it adjusted to all instruments?

Answer 13

Yes, same if it is turned off

Question 14

What happens with FFB and a dual console?

Answer 14

The FFB will assume the sensativity settings it was previously set to from the original console.

Question 15

What is force feedback misalignment?

Answer 15

When visual cues do not match force feedback at the hand controls

Question 16

What do I do if misalignment happens?

Answer 16

Double check your visual cues and the surgical field for interferences

adjust sensitivity to better align with the visual cue

Question 17

What are some causes for misalignment?

Answer 17

• visual cues do not match selected sensitivity
• mixed use with a ffb and xi instrument
• off screen instrument movement
• internal / external collision
• incorrect tied knot / locked knot
• unidentified tissue attachment

Question 18

What is perceived FFB resistance?

Answer 18

Surgeons perceive FFB differently, in some cases, an individual ay perceive the resistance at the hand controls as a limitation to hands control movement

Question 19

What do you do if perceived ffb resistance is encountered?

Answer 19

• Double check your visual cues and check surgical environments for potential interference
• move hand controls away from point of limitation
• adjust the sensitivity to a lower setting and continue task
• lower sensitivity until perceived ffb is no longer present.

Question 20

Other options for perceived resistance?

Answer 20

Controlled continue pressure can be applied on the hand controls to cause the instruments to continue to move and apply force
- turn off FFB

Question 21

What happens if the sensor is not functioning properly

Answer 21

1. the system will remove you from active control
2. You may re-enter but FFb will be temporarily disabled.
   - If sensor resolves, ffb will resume at the force sensitivity previously set.

Question 22

What happens if the sensor is unable to resolve?

Answer 22

A fault will be activated.

• tap retry to continue operating before attempting to reinstall or replace instrument
• If error returns: remove and reinstall instrument
• tap disable to continue to use the installed ffb instrument without any force.
• replace instrument

Question 23

What do we do with the instruments after use?

Answer 23

• Remove any single-use or reusable accessories
• check max. use indicator
• wipe off excess soil