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[121] Citation: Abstract
The age of Minimally Invasive Surgery (MIS) has brought forth
astounding changes in the health care field. Less pain and quicker
patient recovery have been demonstrated with several types of operations
that were once performed by an open technique. With these changes have
come reports of complications. The decreased sense of touch is just one
of several limitations inherent to current techniques of MIS that limit
detection of subtle or unapparent lesions on palpation, such as common
duct stones and liver lesions. The purpose of this study is to
demonstrate the ability of a force feedback equipped grasper to restore
some of the lost sense of touch in MIS. To demonstrate this ability, we
created six silicone phantoms of identical dimensions but graded
compliance, and asked 10 subjects to place them in increasing/decreasing
order of compliance. They used three tools (their dominant gloved hand,
a standard laparoscopic babcock grasper and our force feedback device
fitted with the identical babcock grasper) to rate the compliance of the
samples in a blinded fashion. These conditions thus approximated the
conditions of open surgery, MIS, and MIS fitted with a force-sensing
device, in terms of palpating tissues. Five MIS skilled surgeons and
five non-surgeons participated in the study. The results indicate that
the force feedback device is significantly (P<0.05) better than a
standard babcock grasper at rating tissue compliance, but was not as
successful as a gloved hand (mean of squared errors = 1.06; 3.15; 0.25
respectively). There was no significant difference between surgeons and
non-surgeons in rating compliance. We conclude that this force feedback
instrument is able to partially restore the sense of touch in MIS. This
restored ability may thus potentially result in more efficient
operations with improved diagnostic capabilities and fewer complications
during MIS. Key words: Haptics; Surgical simulation; Force feedback,
Touch
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Updated: Tue Jul 15 23:54:50 2008
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