Biomechanical Characteristics of Internal Organs' Soft Tissues - In-Vivo measurements in minimally Invasive Surgery - Phase 1

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. 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.

Force Reflective Endoscopic Grasper (FREG)

FREG - Overview of the FREG in a surgical setting
56K Modem (128K) | T1 Connection (516K)

FREG - Automatic Palpation of Internal Organ (Soft Tissue)
56K Modem (235K) | T1 Connection (1M)

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J. Rosen, B. Hannaford, M. MacFarlane, M. Sinanan, 'Force Controlled and Teleoperated Endoscopic Grasper for Minimally Invasive Surgery - Experimental Performance Evaluation,' IEEE Transactions on Biomedical Engineering, vol. 46, pp. 1212-1221, October 1999.