Laparoscopic pancreaticoduodenectomy (also known as the Whipple procedure) is a highly-complex minimally-invasive surgical (MIS) procedure used to remove cancer from the head of the pancreas. While mortality rates of the MIS approach are comparable with those of open procedures, morbidity rates remain high due to the delicate nature of the pancreatic tissue, proximity of high-pressure vasculature, and the number of complex anastomoses required [1]. The sharp, rigid nature of the tools and forceps used to manipulate these structures, coupled with lack of haptic feedback, can result in leakage or hemorrhage, which can obfuscate the surgeon's view and force the surgeon to convert to an open procedure.

We present a deployable atraumatic grasper (103 mm long and 14 mm outer diameter when closed) with on-board pressure sensing, allowing a surgeon to grasp and manipulate soft tissue during laparoscopic pancreatic surgery. Created using shape deposition...

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