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PubMed · 10180551

Computerized endoscopic surgical grasper.

B Hannaford·J Trujillo·M Sinanan·M Moreyra·J Rosen·J Brown·R Leuschke·M MacFarlane
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Abstract

We report a computerized endoscopic surgical grasper with computer control and a force feedback (haptic) user interface. The system uses standard unmodified grasper shafts and tips. The device can control grasping forces either by direct surgeon control, via teleoperation, or under software control. In this paper, we test an automated palpation function in which the grasper measures mechanical properties of the grasped tissue by applying a programmed series of squeezes. Experimental results show the ability to discriminate between the normal tissues of small bowel, lung, spleen, liver, colon, and stomach. We anticipate applications in telesurgery, clinical endoscopic surgery, surgical training, and research.

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EndoscopesEquipment DesignFeedbackHumansLeast-Squares AnalysisPressureTouchUser-Computer InterfaceJournal ArticleResearch Support, Non-U.S. Gov't

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B Hannaford, J Trujillo, M Sinanan, M Moreyra, J Rosen, J Brown, R Leuschke, M MacFarlane. 1998. Computerized endoscopic surgical grasper.. https://pubmed.ncbi.nlm.nih.gov/10180551/

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