Related Experiment Videos
Evaluation of a laparoscopic grasper with force feedback
1Program 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
Surgical Endoscopy
|April 1, 2004
Summary
This study developed a novel laparoscopic grasper with force feedback, enabling surgeons to accurately differentiate tissue stiffness during robot-assisted surgery. This innovation enhances minimally invasive procedures by providing crucial tactile information.
Area of Science:
- Biomedical Engineering
- Surgical Technology
- Robotics
Background:
- Clinical use of laparoscopic tools with haptic feedback is limited.
- Existing force feedback tools are not configured like conventional surgical instruments.
- Need for integrated force sensing in robot-assisted surgery.
Purpose of the Study:
- To incorporate force sensing into existing laparoscopic tools.
- To develop a laparoscopic grasper with force-feedback capability.
- To aid surgeons in differentiating tissue stiffness.
Main Methods:
- Development of a laparoscopic grasper with integrated force feedback.
- Measurement of tissue deformation to infer stiffness.
- Testing with surgeons and non-surgeons to evaluate performance.
Main Results:
- Accurate qualitative characterization of different tissue samples by users.
- Demonstrated ability to characterize tissues of varying stiffness.
- Force vs. deformation data confirmed apparatus's capability.
Conclusions:
- The developed laparoscopic grasper provides accurate tissue deformation characterization.
- This force-feedback enabled tool is promising for minimally invasive surgery.
- Enhances tactile feedback in robot-assisted procedures.