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Grasper having tactile sensing function using acoustic reflection for laparoscopic surgery.

Hiep Hoang Ly1, Yoshihiro Tanaka2, Tomohiro Fukuda1

  • 1Department of Electrical and Mechanical Engineering, Graduate School of Engineering, Nagoya Institute of Technology, Gokiso-cho, Showa-ku, Nagoya, 466-8555, Japan.

International Journal of Computer Assisted Radiology and Surgery
|April 30, 2017
PubMed
Summary

This study developed a novel surgical grasper using acoustic reflection to measure grasping force. The sensorized grasper enhances tactile feedback for minimally invasive surgery, ensuring safe and stable object manipulation.

Keywords:
Acoustic reflectionGrasperMinimally invasive surgeryTactile sensor

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Area of Science:

  • Biomedical Engineering
  • Surgical Technology
  • Robotics

Background:

  • Minimally invasive surgery (MIS) techniques often lack tactile feedback, limiting surgeon's control.
  • Enhanced tactile sensation is crucial for improving surgical instrument operability and patient safety.
  • Existing methods may not meet surgical requirements like electrical safety and sterilization.

Purpose of the Study:

  • To develop a novel grasper capable of measuring grasping force at the tip for MIS applications.
  • To utilize a previously proposed acoustic reflection tactile sensing method for force measurement.
  • To ensure the developed grasper meets surgical requirements, including electrical safety and sterilization compatibility.

Main Methods:

  • Integrated an acoustic tactile sensing method into a conventional grasping forceps.
  • Designed acoustic cavities within the grasper arms and a pivoting joint for force measurement.
  • Ensured the sensing method is independent of the grasping arm's orientation.

Main Results:

  • Developed a prototype sensorized grasper with acoustic tactile sensing.
  • Demonstrated that sensor output correlates with applied contact force, irrespective of arm angle.
  • Showcased the grasper's ability to adjust grasping force for objects of varying softness.

Conclusions:

  • The prototype grasper successfully measures grasping force using acoustic reflection.
  • The developed technology enables safer and more stable grasping in surgical procedures.
  • This advancement has the potential to significantly improve tactile feedback in MIS.