Computerized endoscopic surgical grasper.
Identifieur interne : 000027 ( Ncbi/Checkpoint ); précédent : 000026; suivant : 000028Computerized endoscopic surgical grasper.
Auteurs : B. Hannaford [États-Unis] ; J. Trujillo ; M. Sinanan ; M. Moreyra ; J. Rosen ; J. Brown ; R. Leuschke ; M. MacfarlaneSource :
- Studies in health technology and informatics [ 0926-9630 ] ; 1998.
English descriptors
- KwdEn :
- MESH :
Abstract
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.
PubMed: 10180551
Affiliations:
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pubmed:10180551Le document en format XML
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<author><name sortKey="Rosen, J" sort="Rosen, J" uniqKey="Rosen J" first="J" last="Rosen">J. Rosen</name>
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<author><name sortKey="Leuschke, R" sort="Leuschke, R" uniqKey="Leuschke R" first="R" last="Leuschke">R. Leuschke</name>
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<series><title level="j">Studies in health technology and informatics</title>
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<term>Least-Squares Analysis</term>
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<term>Touch</term>
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<term>Feedback</term>
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<front><div type="abstract" xml:lang="en">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.</div>
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<name sortKey="Rosen, J" sort="Rosen, J" uniqKey="Rosen J" first="J" last="Rosen">J. Rosen</name>
<name sortKey="Sinanan, M" sort="Sinanan, M" uniqKey="Sinanan M" first="M" last="Sinanan">M. Sinanan</name>
<name sortKey="Trujillo, J" sort="Trujillo, J" uniqKey="Trujillo J" first="J" last="Trujillo">J. Trujillo</name>
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<country name="États-Unis"><region name="Washington (État)"><name sortKey="Hannaford, B" sort="Hannaford, B" uniqKey="Hannaford B" first="B" last="Hannaford">B. Hannaford</name>
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