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[122] Citation: Abstract
Minimally Invasive Surgery (MIS) generates new user interfaces which
create visual and haptic distortion when compared to traditional
surgery. In order to regain the tactile and kinesthetic information that
is lost, a computerized Force Feedback Endoscopic surgical Grasper
(FREG) was developed with computer control and a haptic user interface.
The system uses standard unmodified grasper shafts and tips. The FREG
can control grasping forces either by surgeon teleoperation control, or
under software control. The FREG performance was evaluated using an
automated palpation function (programmed series of compressions) in
which the grasper measures mechanical properties of the grasped
materials. The material parameters obtained from measurements showed the
ability of the FREG to discriminate between different types of normal
soft tissues (small bowel, lung, spleen, liver, colon and stomach) and
different kinds of artificial soft tissue replication materials
(latex/Silicone) for simulation purposes. In addition, subjective tests
of ranking stiffness of silicone materials using the FREG teleoperation
mode showed significant improvement in the performance compared to the
standard endoscopic grasper. Moreover, the FREG performance was closer
to the performance of the human hand than the standard endoscopic
grasper. The FREG as a tool incorporating the force feedback
teleoperation technology may provide the basis for application in
telesurgery, clinical endoscopic surgery, surgical training, and
research.
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Updated: Tue Jul 15 23:54:50 2008
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