The introduction of minimally invasive surgery (MIS) into the operating room has led to significant advantages over conventional open surgery. Furthermore, the migration toward robot-assisted MIS over the past decade has provided additional advantages. However, the lack of haptic feedback in these tele-operated robotic surgical systems has inhibited the surgeon’s ability to diagnose tissue as healthy or unhealthy, thereby creating a need for force feedback in these systems. This paper presents the design and development of a compact and modular laparoscopic grasper with tridirectional force measurement capability for applications in robot-assisted MIS. The instrumented laparoscopic grasper is capable of measuring the normal grasping force, as well as the manipulation forces (horizontal and vertical) during grasping tasks. The grasper also has a modular design that allows for easy conversion between different surgical modalities, such as grasping, cutting, and dissecting. Preliminary tele-operative experiments with force feedback capability through a haptic feedback device for artificial tissue characterization as well as knot tightening experiments indicate the capability of this grasper.
A Compact and Modular Laparoscopic Grasper With Tridirectional Force Measurement Capability
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Tholey, G., and Desai, J. P. (July 11, 2008). "A Compact and Modular Laparoscopic Grasper With Tridirectional Force Measurement Capability." ASME. J. Med. Devices. September 2008; 2(3): 031001. https://doi.org/10.1115/1.2952817
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