Force Feedback Flashcards
Size of instruments
8mm instruments
6 FFB instruments
Large needle driver
Mega suture cut needle driver
cadiere forceps
prograsp forceps
fenestrated bipolar forceps
maryland bipolar forceps
How does FFB work?
combines hardware and software to measure pulling and pushing forces at the instrument tips and sends these forces as FFB at the hand controls
Where are the sensors positioned
in-between the inner and outer shafts
Will forces be felt elsewhere on the instrument?
No, only at the tips of the instrument
Can you feel grip?
No, instrument grip does no provide grip feedback or tactile feedback
What are the 3 sensitivity levels
low, med (default), high
as well as the ability to turn it off
What are the FFB instruments compatible with?
8mm hex cannulas
xi 8 mm cannulas
5-12 universal seal
5-8 cannula seal
12mm cannula
12-8 reducer
How should I position the reducer for FFB instruments
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
How are FFB instruments identified?
FFB instrument name
Concentric rings around the arm number
sensitivity setting below arm number
What does the user experience while on high sensitivity?
What about Med/low?
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
When I change the sensitivity, does the force feedback on the instrument change?
No, the ability to apply force remains the same
When FFB is changed Is it adjusted to all instruments?
Yes, same if it is turned off
What happens with FFB and a dual console?
The FFB will assume the sensativity settings it was previously set to from the original console.
What is force feedback misalignment?
When visual cues do not match force feedback at the hand controls
What do I do if misalignment happens?
Double check your visual cues and the surgical field for interferences
adjust sensitivity to better align with the visual cue
What are some causes for misalignment?
- 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
What is perceived FFB resistance?
Surgeons perceive FFB differently, in some cases, an individual ay perceive the resistance at the hand controls as a limitation to hands control movement
What do you do if perceived ffb resistance is encountered?
- 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.
Other options for perceived resistance?
Controlled continue pressure can be applied on the hand controls to cause the instruments to continue to move and apply force
- turn off FFB
What happens if the sensor is not functioning properly
- the system will remove you from active control
- You may re-enter but FFb will be temporarily disabled.
- If sensor resolves, ffb will resume at the force sensitivity previously set.
What happens if the sensor is unable to resolve?
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
What do we do with the instruments after use?
- Remove any single-use or reusable accessories
- check max. use indicator
- wipe off excess soil
