T Hu1, G Tholey, J P Desai, A E Castellanos. 1. Program for Robotics, Intelligent Sensing, and Mechatronics (PRISM) Laboratory, Drexel University, 3141 Chestnut Street, MEM Department, Room 2-115, Philadelphia, PA 19104, USA. tie@coe.drexel.edu
Abstract
BACKGROUND: The clinical implementation of laparoscopic tools with haptic feedback is far from becoming a reality, partly because current tools with force feedback are not configured like conventional surgical instruments. Hence, our goal was to incorporate force sensing into existing laparoscopic tools for use in robot-assisted surgery. METHODS: We developed a laparoscopic grasper with force-feedback capability that would help surgeons to differentiate tissue stiffness based on the measured tissue deformation. RESULTS: Surgeons and nonsurgeons alike were able to qualitatively characterize different tissue samples with a high degree of accuracy. The observed force vs deformation characteristic for various tissue samples confirmed the ability of our apparatus to characterize tissues of varying stiffness. CONCLUSION: This innovative laparoscopic grasper with force-feedback capability enables accurate characterization of tissue deformation and is a promising tool for minimally invasive surgery.
BACKGROUND: The clinical implementation of laparoscopic tools with haptic feedback is far from becoming a reality, partly because current tools with force feedback are not configured like conventional surgical instruments. Hence, our goal was to incorporate force sensing into existing laparoscopic tools for use in robot-assisted surgery. METHODS: We developed a laparoscopic grasper with force-feedback capability that would help surgeons to differentiate tissue stiffness based on the measured tissue deformation. RESULTS: Surgeons and nonsurgeons alike were able to qualitatively characterize different tissue samples with a high degree of accuracy. The observed force vs deformation characteristic for various tissue samples confirmed the ability of our apparatus to characterize tissues of varying stiffness. CONCLUSION: This innovative laparoscopic grasper with force-feedback capability enables accurate characterization of tissue deformation and is a promising tool for minimally invasive surgery.