Evaluating the Role of Vision and Force Feedback in Minimally Invasive Surgery: New Automated Laparoscopic Grasper and A Case Study
Identifieur interne : 000A44 ( Istex/Corpus ); précédent : 000A43; suivant : 000A45Evaluating the Role of Vision and Force Feedback in Minimally Invasive Surgery: New Automated Laparoscopic Grasper and A Case Study
Auteurs : Gregory Tholey ; P. Desai ; E. CastellanosSource :
- Lecture Notes in Computer Science [ 0302-9743 ] ; 2003.
Abstract
Abstract: Conventional laparoscopic tools do not have the ability of providing force feedback to a surgeon during surgical procedures. Loss of haptic feedback in MIS procedures is a disadvantage to surgeons since they are conventionally used to palpating tissues to diagnose whether the tissue is normal or abnormal. Therefore, a need exists to incorporate force feedback into laparoscopic tools. We have developed a laparoscopic grasper with force feedback capability to help surgeons characterize tissues. Through our interface, the surgeon can feel the tissue grasping forces while interacting with the PHANToM (haptic interface device). Our laparoscopic tool has a modular design for easy conversion between a grasper, cutter, and dissector. We have done several experiments to test two hypotheses with human subjects (20 subjects; 10 surgeons and 10 non-surgeons) to characterize tissues of varying hardness using only vision, only force, and simultaneous vision and force feedback.
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DOI: 10.1007/978-3-540-39899-8_25
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<front><div type="abstract" xml:lang="en">Abstract: Conventional laparoscopic tools do not have the ability of providing force feedback to a surgeon during surgical procedures. Loss of haptic feedback in MIS procedures is a disadvantage to surgeons since they are conventionally used to palpating tissues to diagnose whether the tissue is normal or abnormal. Therefore, a need exists to incorporate force feedback into laparoscopic tools. We have developed a laparoscopic grasper with force feedback capability to help surgeons characterize tissues. Through our interface, the surgeon can feel the tissue grasping forces while interacting with the PHANToM (haptic interface device). Our laparoscopic tool has a modular design for easy conversion between a grasper, cutter, and dissector. We have done several experiments to test two hypotheses with human subjects (20 subjects; 10 surgeons and 10 non-surgeons) to characterize tissues of varying hardness using only vision, only force, and simultaneous vision and force feedback.</div>
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<ChapterTitle Language="En">Evaluating the Role of Vision and Force Feedback in Minimally Invasive Surgery: New Automated Laparoscopic Grasper and A Case Study</ChapterTitle>
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<ChapterHeader><AuthorGroup><Author AffiliationIDS="Aff6"><AuthorName DisplayOrder="Western"><GivenName>Gregory</GivenName>
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<Author AffiliationIDS="Aff6"><AuthorName DisplayOrder="Western"><GivenName>Jaydev</GivenName>
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<FamilyName>Desai</FamilyName>
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<Contact><Email>desai@coe.drexel.edu</Email>
</Contact>
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<Author AffiliationIDS="Aff7"><AuthorName DisplayOrder="Western"><GivenName>Andres</GivenName>
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<Affiliation ID="Aff6"><OrgDivision>Program for Robotics, Intelligent Sensing, and Mechatronics (PRISM) Laboratory, MEM Department</OrgDivision>
<OrgName>Drexel University</OrgName>
<OrgAddress><Street>3141 Chestnut Street, Room 2–115</Street>
<City>Philadelphia</City>
<State>PA</State>
<Postcode>19104</Postcode>
<Country>USA</Country>
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<Affiliation ID="Aff7"><OrgDivision>Department of Surgery</OrgDivision>
<OrgName>Drexel University College of Medicine</OrgName>
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<Postcode>19104</Postcode>
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<Para>Conventional laparoscopic tools do not have the ability of providing force feedback to a surgeon during surgical procedures. Loss of haptic feedback in MIS procedures is a disadvantage to surgeons since they are conventionally used to palpating tissues to diagnose whether the tissue is normal or abnormal. Therefore, a need exists to incorporate force feedback into laparoscopic tools. We have developed a laparoscopic grasper with force feedback capability to help surgeons characterize tissues. Through our interface, the surgeon can feel the tissue grasping forces while interacting with the PHANToM (haptic interface device). Our laparoscopic tool has a modular design for easy conversion between a grasper, cutter, and dissector. We have done several experiments to test two hypotheses with human subjects (20 subjects; 10 surgeons and 10 non-surgeons) to characterize tissues of varying hardness using only vision, only force, and simultaneous vision and force feedback.</Para>
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<ArticleNote Type="Misc"><SimplePara>We would like to acknowledge the support of National Science Foundation grants: EIA0079830, and CAREER Award IIS-0133471 for this work.</SimplePara>
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<abstract lang="en">Abstract: Conventional laparoscopic tools do not have the ability of providing force feedback to a surgeon during surgical procedures. Loss of haptic feedback in MIS procedures is a disadvantage to surgeons since they are conventionally used to palpating tissues to diagnose whether the tissue is normal or abnormal. Therefore, a need exists to incorporate force feedback into laparoscopic tools. We have developed a laparoscopic grasper with force feedback capability to help surgeons characterize tissues. Through our interface, the surgeon can feel the tissue grasping forces while interacting with the PHANToM (haptic interface device). Our laparoscopic tool has a modular design for easy conversion between a grasper, cutter, and dissector. We have done several experiments to test two hypotheses with human subjects (20 subjects; 10 surgeons and 10 non-surgeons) to characterize tissues of varying hardness using only vision, only force, and simultaneous vision and force feedback.</abstract>
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<namePart type="family">Ellis</namePart>
<affiliation>Queen’s University, Kingston, Ontario, Canada</affiliation>
<affiliation>E-mail: ellis@cs.queensu.ca</affiliation>
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<name type="personal"><namePart type="given">Terry</namePart>
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