Force Feedback Grasper Helps Restore the Sense of Touch in Minimally Invasive Surgery.

MacFarlane, M. and Rosen, J. and Hannaford, B. and Pellegrini, C. and Sinanan, M. (1999) Force Feedback Grasper Helps Restore the Sense of Touch in Minimally Invasive Surgery. Journal of Gastrointestinal Surgery, 3 (3). pp. 278-285.

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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. <p> 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. <p> 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.<p> Key words: Haptics; Surgical simulation; Force feedback, Touch

Item Type: Article
Subjects: D Haptics
Depositing User: Mohammad Haghighipanah
Date Deposited: 30 Jul 2015 17:58
Last Modified: 30 Jul 2015 17:58
URI: http://brl.ee.washington.edu/eprints/id/eprint/235

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