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.
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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
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Sinanan</name></author><author><name sortKey="Moreyra, M" sort="Moreyra, M" uniqKey="Moreyra M" first="M" last="Moreyra">M. Moreyra</name></author><author><name sortKey="Rosen, J" sort="Rosen, J" uniqKey="Rosen J" first="J" last="Rosen">J. Rosen</name></author><author><name sortKey="Brown, J" sort="Brown, J" uniqKey="Brown J" first="J" last="Brown">J. Brown</name></author><author><name sortKey="Leuschke, R" sort="Leuschke, R" uniqKey="Leuschke R" first="R" last="Leuschke">R. Leuschke</name></author><author><name sortKey="Macfarlane, M" sort="Macfarlane, M" uniqKey="Macfarlane M" first="M" last="Macfarlane">M. 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Rosen</name></author><author><name sortKey="Brown, J" sort="Brown, J" uniqKey="Brown J" first="J" last="Brown">J. Brown</name></author><author><name sortKey="Leuschke, R" sort="Leuschke, R" uniqKey="Leuschke R" first="R" last="Leuschke">R. Leuschke</name></author><author><name sortKey="Macfarlane, M" sort="Macfarlane, M" uniqKey="Macfarlane M" first="M" last="Macfarlane">M. Macfarlane</name></author></analytic><series><title level="j">Studies in health technology and informatics</title><idno type="ISSN">0926-9630</idno><imprint><date when="1998" type="published">1998</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Endoscopes</term><term>Equipment Design</term><term>Feedback</term><term>Humans</term><term>Least-Squares Analysis</term><term>Pressure</term><term>Touch</term><term>User-Computer Interface</term></keywords><keywords scheme="MESH" xml:lang="en"><term>Endoscopes</term><term>Equipment Design</term><term>Feedback</term><term>Humans</term><term>Least-Squares Analysis</term><term>Pressure</term><term>Touch</term><term>User-Computer Interface</term></keywords></textClass></profileDesc></teiHeader><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></front></TEI><affiliations><list><country><li>États-Unis</li></country><region><li>Washington (État)</li></region><settlement><li>Seattle</li></settlement><orgName><li>Université de Washington</li></orgName></list><tree><noCountry><name sortKey="Brown, J" sort="Brown, J" uniqKey="Brown J" first="J" last="Brown">J. Brown</name><name sortKey="Leuschke, R" sort="Leuschke, R" uniqKey="Leuschke R" first="R" last="Leuschke">R. Leuschke</name><name sortKey="Macfarlane, M" sort="Macfarlane, M" uniqKey="Macfarlane M" first="M" last="Macfarlane">M. Macfarlane</name><name sortKey="Moreyra, M" sort="Moreyra, M" uniqKey="Moreyra M" first="M" last="Moreyra">M. Moreyra</name><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></noCountry><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></region></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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