Force controlled and teleoperated endoscopic grasper for minimally invasive surgery-experimental performance evaluation

Rosén, Jacob; Hannaford, Blake; Macfarlane, Mark; Sinanan, Mika

doi:10.1109/10.790498

Cited by 292 publications

(133 citation statements)

References 14 publications

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“…Assessing the instrument tip trajectory reportedly is useful in training for laparoscopic surgery [5,11]. Measurement with a force and torque sensor is similarly useful to evaluate skills in endoscopic sinus surgery and laparoscopic surgery training [13,14,19].…”

Section: Introductionmentioning

confidence: 99%

Evaluation of Skills in Arthroscopic Training Based on Trajectory and Force Data

Tashiro

Miura

Nakanishi

et al. 2009

Clinical Orthopaedics &Amp; Related Research

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Objective evaluation of surgical skills is essential for an arthroscopic training system. We asked whether a quantitative assessment of arthroscopic skills using scores, time to completion, instrument tip trajectory data, and force data was valid. We presumed more experienced surgeons would perform better on a simulated arthroscopic procedure than novices, therefore validating the quantitative assessment. Surgical trainees (n = 12), orthopaedic residents (n = 12), and experienced arthroscopic surgeons (n = 6) were tested on a Sawbones 1 knee simulator. Subjects performed a joint inspection and probing task and a partial meniscectomy task. The trajectory data were measured using an electromagnetic motion tracking system and the force data were measured using a force sensor. The experienced group performed both tasks with higher scores and more quickly than the less experienced groups. The path length of the probe and the scissors was substantially shorter and the probe velocity was considerably faster in the experienced group. The trainee group applied substantially stronger forces to the joint during the joint inspection and probing task. Our data suggest a performance assessment using an electromagnetic motion tracking system and a force sensor provides an objective means of evaluating surgical skills in an arthroscopic training system.

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Section: Introductionmentioning

confidence: 99%

Evaluation of Skills in Arthroscopic Training Based on Trajectory and Force Data

Tashiro

Miura

Nakanishi

et al. 2009

Clinical Orthopaedics &Amp; Related Research

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“…A force-feedback surgical grasper has been developed that is used to measure mechanical properties of tissue [34]. Results include the in vivo compressive properties of porcine abdominal soft tissues [35].…”

Section: Tissue Mechanicsmentioning

confidence: 99%

Modeling, Analysis, and Experimental Study of In Vivo Wheeled Robotic Mobility

et al. 2006

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Abstract-Laparoscopy is abdominal surgery performed with long tools inserted through small incisions. The use of small incisions reduces patient trauma, but also eliminates the surgeon's ability to view and touch the surgical environment directly. These limitations generally restrict the application of laparoscopy to procedures less complex than those performed during open surgery. This paper presents a theoretical and experimental analysis of miniature, wheeled, in vivo robots to support laparoscopy. The objective is to develop a wireless mobile imaging robot that can be placed inside the abdominal cavity during surgery. Such robots will allow the surgeon to view the surgical environment from multiple angles. The motion of these in vivo robots will not be constrained by the insertion incisions. Simulation and experimental analyses have led to a wheel design that can attain good mobility performance in in vivo conditions.

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“…Several researchers have already proposed solutions to incorporate force feedback into current laparoscopic tools through the addition of strains gages and developing new robotic manipulators or laparoscopic tools with incorporated force feedback [2][3][4][5][6][7][8]. However, there still exist many problems within the designs of laparoscopic tools and their use in robotic surgery [9,10].…”

Section: Introductionmentioning

confidence: 99%

Evaluating the Role of Vision and Force Feedback in Minimally Invasive Surgery: New Automated Laparoscopic Grasper and A Case Study

Tholey

Desai

Castellanos

2003

Lecture Notes in Computer Science

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Abstract. Conventional laparoscopic tools do not have the ability of providing force feedback to a surgeon during surgical procedures. Loss of haptic feedback in MIS procedures is a disadvantage to surgeons since they are conventionally used to palpating tissues to diagnose whether the tissue is normal or abnormal. Therefore, a need exists to incorporate force feedback into laparoscopic tools. We have developed a laparoscopic grasper with force feedback capability to help surgeons characterize tissues. Through our interface, the surgeon can feel the tissue grasping forces while interacting with the PHANToM (haptic interface device). Our laparoscopic tool has a modular design for easy conversion between a grasper, cutter, and dissector. We have done several experiments to test two hypotheses with human subjects (20 subjects; 10 surgeons and 10 non-surgeons) to characterize tissues of varying hardness using only vision, only force, and simultaneous vision and force feedback.

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Force controlled and teleoperated endoscopic grasper for minimally invasive surgery-experimental performance evaluation

Cited by 292 publications

References 14 publications

Evaluation of Skills in Arthroscopic Training Based on Trajectory and Force Data

Evaluation of Skills in Arthroscopic Training Based on Trajectory and Force Data

Modeling, Analysis, and Experimental Study of In Vivo Wheeled Robotic Mobility

Evaluating the Role of Vision and Force Feedback in Minimally Invasive Surgery: New Automated Laparoscopic Grasper and A Case Study

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