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Evaluation of a laparoscopic grasper with force feedback.

T Hu1, G Tholey, J P Desai

  • 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
PubMed
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.

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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.

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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.