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[111] Citation: B. Hannaford, J. Trujillo, M. Sinanan, M. Moreyra, J. Rosen, J. Brown, R. Lueschke, M. MacFarlane,
'Computerized Endoscopic Surgical Grasper,'
Proceedings, MMVR-98 (Medicine Meets Virtual Reality), San Diego, January 1998.
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.
["I would like a hard copy of this report"]
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Updated: Tue Jul 15 23:54:50 2008
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