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Related Experiment Video

Updated: May 11, 2026

A Teleoperated Robotic System-Assisted Percutaneous Transiliac-Transsacral Screw Fixation Technique
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A Teleoperated Robotic System-Assisted Percutaneous Transiliac-Transsacral Screw Fixation Technique

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An actuated force feedback-enabled laparoscopic instrument for robotic-assisted surgery.

Mohsen Moradi Dalvand1, Bijan Shirinzadeh, Amir Hossein Shamdani

  • 1Department of Mechanical and Aerospace Engineering, Monash University, Melbourne, Australia.

The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS
|May 4, 2013
PubMed
Summary

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This study introduces a novel force feedback instrument for robotic surgery, restoring the surgeon's sense of touch. The device accurately measures tissue interaction forces, enhancing palpation and characterization during minimally invasive procedures.

Area of Science:

  • Biomedical Engineering
  • Surgical Robotics
  • Haptic Feedback

Background:

  • Robotic surgery offers enhanced precision but lacks tactile feedback.
  • Restoring the sense of touch is crucial for complex surgical maneuvers.
  • Existing solutions for haptic feedback in robotic surgery are limited.

Purpose of the Study:

  • To develop and validate a force feedback-enabled laparoscopic instrument for robotic surgery.
  • To restore tactile sensation for improved tissue interaction and characterization.
  • To enhance surgeon's ability to assess tissue properties during minimally invasive procedures.

Main Methods:

  • An actuated modular laparoscopic instrument with strain gauges was designed.
  • Finite element analysis was used to understand strain distribution.
Keywords:
calibrationcharacterizationfinite element modelling (FEM)force feedbackminimally invasive surgery (MIS)palpationstrain gaugesurgery instrument

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  • Calibration and experimental validation with artificial tissues were performed.

    • Main Results:

    • The instrument successfully measured lateral and normal interaction forces.
    • Modularity allows for interchangeable instrument tips (cutter, grasper, dissector).
    • Experimental results confirmed accurate tissue probing and characterization capabilities.

    Conclusions:

    • The developed instrument restores the sense of touch in robotic surgery.
    • It improves palpation and characterization of soft tissues with varying stiffness.
    • This technology has the potential to enhance surgical outcomes in minimally invasive procedures.