Computerized Endoscopic Surgical Grasper

Hannaford, B. and Trujillo, J. and Sinanan, M. and Moreyra, M. and Rosen, J. and Brown, J. and Lueschke, R. and MacFarlane, M. (1998) Computerized Endoscopic Surgical Grasper. In: Proceedings, MMVR-98 (Medicine Meets Virtual Reality), San Diego.

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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.

Item Type: Conference or Workshop Item (Paper)
Subjects: C Surgical Robots > CB Automated Tools
Divisions: Department of Electrical Engineering
Depositing User: Muneaki Miyasaka
Date Deposited: 27 Jul 2015 23:46
Last Modified: 27 Jul 2015 23:46

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