Slip, or accidental loss, of grasped biological tissue can have negative consequences in all types of surgery (open, laparoscopic, robot-assisted). This work focuses on slip in robot-assisted surgery (RAS) with the goal of improving the quality of grasping and tool–tissue interactions. We report on a survey of 112 RAS surgeons, the results of which support the value of detecting and reducing slip in a variety of procedures. We conducted validation tests using a thermal slip sensor in a surgical grasper on tissue in vivo and ex vivo. The results of the survey and validation informed a user study to assess whether tissue slip feedback can improve performance and reduce effort in a phantom tissue manipulation task. With slip feedback, experienced subjects were significantly faster to complete the task, dropped tissue less (3% versus 38%), and experienced decreased mental demands and situational stress. These results provide motivation to further develop the sensor technology and incorporate it in robotic surgical equipment.
The Role of Tissue Slip Feedback in Robot-Assisted Surgery
Sunnyvale, CA 94086
Department of Mechanical Engineering,
Stanford, CA 94305
Manuscript received November 5, 2018; final manuscript received February 22, 2019; published online March 21, 2019. Assoc. Editor: Carl Nelson.
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Burkhard, N. T., Ryan Steger, J., and Cutkosky, M. R. (March 21, 2019). "The Role of Tissue Slip Feedback in Robot-Assisted Surgery." ASME. J. Med. Devices. June 2019; 13(2): 021003. https://doi.org/10.1115/1.4043018
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