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.
Url:
DOI: 10.1007/978-3-540-39899-8_25
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<record><TEI wicri:istexFullTextTei="biblStruct"><teiHeader><fileDesc><titleStmt><title xml:lang="en">Evaluating the Role of Vision and Force Feedback in Minimally Invasive Surgery: New Automated Laparoscopic Grasper and A Case Study</title><author><name sortKey="Tholey, Gregory" sort="Tholey, Gregory" uniqKey="Tholey G" first="Gregory" last="Tholey">Gregory Tholey</name><affiliation><mods:affiliation>Program for Robotics, Intelligent Sensing, and Mechatronics (PRISM) Laboratory, MEM Department, Drexel University, 3141 Chestnut Street, Room 2–115, 19104, Philadelphia, PA, USA</mods:affiliation></affiliation><affiliation><mods:affiliation>E-mail: gtholey@coe.drexel.edu</mods:affiliation></affiliation></author><author><name sortKey="Desai, P" sort="Desai, P" uniqKey="Desai P" first="P." last="Desai">P. Desai</name><affiliation><mods:affiliation>Program for Robotics, Intelligent Sensing, and Mechatronics (PRISM) Laboratory, MEM Department, Drexel University, 3141 Chestnut Street, Room 2–115, 19104, Philadelphia, PA, USA</mods:affiliation></affiliation><affiliation><mods:affiliation>E-mail: desai@coe.drexel.edu</mods:affiliation></affiliation></author><author><name sortKey="Castellanos, E" sort="Castellanos, E" uniqKey="Castellanos E" first="E." last="Castellanos">E. Castellanos</name><affiliation><mods:affiliation>Department of Surgery, Drexel University College of Medicine, 19104, Philadelphia, PA, USA</mods:affiliation></affiliation><affiliation><mods:affiliation>E-mail: andres.e.castellanos@drexel.edu</mods:affiliation></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">ISTEX</idno><idno type="RBID">ISTEX:869AD6334C976A4278BDA35571B68AA416E2DD94</idno><date when="2003" year="2003">2003</date><idno type="doi">10.1007/978-3-540-39899-8_25</idno><idno type="url">https://api.istex.fr/document/869AD6334C976A4278BDA35571B68AA416E2DD94/fulltext/pdf</idno><idno type="wicri:Area/Istex/Corpus">000A44</idno></publicationStmt><sourceDesc><biblStruct><analytic><title level="a" type="main" xml:lang="en">Evaluating the Role of Vision and Force Feedback in Minimally Invasive Surgery: New Automated Laparoscopic Grasper and A Case Study</title><author><name sortKey="Tholey, Gregory" sort="Tholey, Gregory" uniqKey="Tholey G" first="Gregory" last="Tholey">Gregory Tholey</name><affiliation><mods:affiliation>Program for Robotics, Intelligent Sensing, and Mechatronics (PRISM) Laboratory, MEM Department, Drexel University, 3141 Chestnut Street, Room 2–115, 19104, Philadelphia, PA, USA</mods:affiliation></affiliation><affiliation><mods:affiliation>E-mail: gtholey@coe.drexel.edu</mods:affiliation></affiliation></author><author><name sortKey="Desai, P" sort="Desai, P" uniqKey="Desai P" first="P." last="Desai">P. Desai</name><affiliation><mods:affiliation>Program for Robotics, Intelligent Sensing, and Mechatronics (PRISM) Laboratory, MEM Department, Drexel University, 3141 Chestnut Street, Room 2–115, 19104, Philadelphia, PA, USA</mods:affiliation></affiliation><affiliation><mods:affiliation>E-mail: desai@coe.drexel.edu</mods:affiliation></affiliation></author><author><name sortKey="Castellanos, E" sort="Castellanos, E" uniqKey="Castellanos E" first="E." last="Castellanos">E. Castellanos</name><affiliation><mods:affiliation>Department of Surgery, Drexel University College of Medicine, 19104, Philadelphia, PA, USA</mods:affiliation></affiliation><affiliation><mods:affiliation>E-mail: andres.e.castellanos@drexel.edu</mods:affiliation></affiliation></author></analytic><monogr></monogr><series><title level="s">Lecture Notes in Computer Science</title><imprint><date>2003</date></imprint><idno type="ISSN">0302-9743</idno><idno type="eISSN">1611-3349</idno><idno type="ISSN">0302-9743</idno></series><idno type="istex">869AD6334C976A4278BDA35571B68AA416E2DD94</idno><idno type="DOI">10.1007/978-3-540-39899-8_25</idno><idno type="ChapterID">25</idno><idno type="ChapterID">Chap25</idno></biblStruct></sourceDesc><seriesStmt><idno type="ISSN">0302-9743</idno></seriesStmt></fileDesc><profileDesc><textClass></textClass><langUsage><language ident="en">en</language></langUsage></profileDesc></teiHeader><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></front></TEI><istex><corpusName>springer</corpusName><author><json:item><name>Gregory Tholey</name><affiliations><json:string>Program for Robotics, Intelligent Sensing, and Mechatronics (PRISM) Laboratory, MEM Department, Drexel University, 3141 Chestnut Street, Room 2–115, 19104, Philadelphia, PA, USA</json:string><json:string>E-mail: gtholey@coe.drexel.edu</json:string></affiliations></json:item><json:item><name>Jaydev P. Desai</name><affiliations><json:string>Program for Robotics, Intelligent Sensing, and Mechatronics (PRISM) Laboratory, MEM Department, Drexel University, 3141 Chestnut Street, Room 2–115, 19104, Philadelphia, PA, USA</json:string><json:string>E-mail: desai@coe.drexel.edu</json:string></affiliations></json:item><json:item><name>Andres E. Castellanos</name><affiliations><json:string>Department of Surgery, Drexel University College of Medicine, 19104, Philadelphia, PA, USA</json:string><json:string>E-mail: andres.e.castellanos@drexel.edu</json:string></affiliations></json:item></author><language><json:string>eng</json:string></language><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. 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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. 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Robotics)</BookSubject><BookSubject Code="I22013" Priority="5" Type="Secondary">Computer Graphics</BookSubject><BookSubject Code="I2203X" Priority="6" Type="Secondary">Pattern Recognition</BookSubject><SubjectCollection Code="SUCO11645">Computer Science</SubjectCollection></BookSubjectGroup><BookContext><SeriesID>558</SeriesID></BookContext></BookInfo><BookHeader><EditorGroup><Editor AffiliationIDS="Aff4"><EditorName DisplayOrder="Western"><GivenName>Randy</GivenName><GivenName>E.</GivenName><FamilyName>Ellis</FamilyName></EditorName><Contact><Email>ellis@cs.queensu.ca</Email></Contact></Editor><Editor AffiliationIDS="Aff5"><EditorName DisplayOrder="Western"><GivenName>Terry</GivenName><GivenName>M.</GivenName><FamilyName>Peters</FamilyName></EditorName><Contact><Email>tpeters@imaging.robarts.ca</Email></Contact></Editor><Affiliation ID="Aff4"><OrgName>Queen’s University</OrgName><OrgAddress><City>Kingston</City><State>Ontario</State><Country>Canada</Country></OrgAddress></Affiliation><Affiliation ID="Aff5"><OrgName>Canadian Surgical Technologies and Advanced Robotics, London</OrgName><OrgAddress><State>Ontario</State><Country>Canada</Country></OrgAddress></Affiliation></EditorGroup></BookHeader><Part ID="Part2"><PartInfo TocLevels="0"><PartID>2</PartID><PartSequenceNumber>2</PartSequenceNumber><PartTitle>Robotic Mechanism ans Mechanical Properties of Tissue</PartTitle><PartChapterCount>20</PartChapterCount><PartContext><SeriesID>558</SeriesID><BookTitle>Medical Image Computing and Computer-Assisted Intervention - MICCAI 2003</BookTitle></PartContext></PartInfo><Chapter ID="Chap25" Language="En"><ChapterInfo ChapterType="OriginalPaper" ContainsESM="No" NumberingDepth="2" NumberingStyle="ContentOnly" TocLevels="0"><ChapterID>25</ChapterID><ChapterDOI>10.1007/978-3-540-39899-8_25</ChapterDOI><ChapterSequenceNumber>25</ChapterSequenceNumber><ChapterTitle Language="En">Evaluating the Role of Vision and Force Feedback in Minimally Invasive Surgery: New Automated Laparoscopic Grasper and A Case Study</ChapterTitle><ChapterFirstPage>198</ChapterFirstPage><ChapterLastPage>205</ChapterLastPage><ChapterCopyright><CopyrightHolderName>Springer-Verlag Berlin Heidelberg</CopyrightHolderName><CopyrightYear>2003</CopyrightYear></ChapterCopyright><ChapterGrants Type="Regular"><MetadataGrant Grant="OpenAccess"></MetadataGrant><AbstractGrant Grant="OpenAccess"></AbstractGrant><BodyPDFGrant Grant="Restricted"></BodyPDFGrant><BodyHTMLGrant Grant="Restricted"></BodyHTMLGrant><BibliographyGrant Grant="Restricted"></BibliographyGrant><ESMGrant Grant="Restricted"></ESMGrant></ChapterGrants><ChapterContext><SeriesID>558</SeriesID><PartID>2</PartID><BookID>978-3-540-39899-8</BookID><BookTitle>Medical Image Computing and Computer-Assisted Intervention - MICCAI 2003</BookTitle></ChapterContext></ChapterInfo><ChapterHeader><AuthorGroup><Author AffiliationIDS="Aff6"><AuthorName DisplayOrder="Western"><GivenName>Gregory</GivenName><FamilyName>Tholey</FamilyName></AuthorName><Contact><Email>gtholey@coe.drexel.edu</Email></Contact></Author><Author AffiliationIDS="Aff6"><AuthorName DisplayOrder="Western"><GivenName>Jaydev</GivenName><GivenName>P.</GivenName><FamilyName>Desai</FamilyName></AuthorName><Contact><Email>desai@coe.drexel.edu</Email></Contact></Author><Author AffiliationIDS="Aff7"><AuthorName DisplayOrder="Western"><GivenName>Andres</GivenName><GivenName>E.</GivenName><FamilyName>Castellanos</FamilyName></AuthorName><Contact><Email>andres.e.castellanos@drexel.edu</Email></Contact></Author><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></OrgAddress></Affiliation><Affiliation ID="Aff7"><OrgDivision>Department of Surgery</OrgDivision><OrgName>Drexel University College of Medicine</OrgName><OrgAddress><City>Philadelphia</City><State>PA</State><Postcode>19104</Postcode><Country>USA</Country></OrgAddress></Affiliation></AuthorGroup><Abstract ID="Abs1" Language="En"><Heading>Abstract</Heading><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></Abstract><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></ArticleNote></ChapterHeader><NoBody></NoBody></Chapter></Part></Book></Series></Publisher></istex:document></istex:metadataXml><mods version="3.6"><titleInfo lang="en"><title>Evaluating the Role of Vision and Force Feedback in Minimally Invasive Surgery: New Automated Laparoscopic Grasper and A Case Study</title></titleInfo><titleInfo type="alternative" contentType="CDATA" lang="en"><title>Evaluating the Role of Vision and Force Feedback in Minimally Invasive Surgery: New Automated Laparoscopic Grasper and A Case Study</title></titleInfo><name type="personal"><namePart type="given">Gregory</namePart><namePart type="family">Tholey</namePart><affiliation>Program for Robotics, Intelligent Sensing, and Mechatronics (PRISM) Laboratory, MEM Department, Drexel University, 3141 Chestnut Street, Room 2–115, 19104, Philadelphia, PA, USA</affiliation><affiliation>E-mail: gtholey@coe.drexel.edu</affiliation><role><roleTerm type="text">author</roleTerm></role></name><name type="personal"><namePart type="given">Jaydev</namePart><namePart type="given">P.</namePart><namePart type="family">Desai</namePart><affiliation>Program for Robotics, Intelligent Sensing, and Mechatronics (PRISM) Laboratory, MEM Department, Drexel University, 3141 Chestnut Street, Room 2–115, 19104, Philadelphia, PA, USA</affiliation><affiliation>E-mail: desai@coe.drexel.edu</affiliation><role><roleTerm type="text">author</roleTerm></role></name><name type="personal"><namePart type="given">Andres</namePart><namePart type="given">E.</namePart><namePart type="family">Castellanos</namePart><affiliation>Department of Surgery, Drexel University College of Medicine, 19104, Philadelphia, PA, USA</affiliation><affiliation>E-mail: andres.e.castellanos@drexel.edu</affiliation><role><roleTerm type="text">author</roleTerm></role></name><typeOfResource>text</typeOfResource><genre type="conference [eBooks]" displayLabel="OriginalPaper"></genre><originInfo><publisher>Springer Berlin Heidelberg</publisher><place><placeTerm type="text">Berlin, Heidelberg</placeTerm></place><dateIssued encoding="w3cdtf">2003</dateIssued><copyrightDate encoding="w3cdtf">2003</copyrightDate></originInfo><language><languageTerm type="code" authority="rfc3066">en</languageTerm><languageTerm type="code" authority="iso639-2b">eng</languageTerm></language><physicalDescription><internetMediaType>text/html</internetMediaType></physicalDescription><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><relatedItem type="host"><titleInfo><title>Medical Image Computing and Computer-Assisted Intervention - MICCAI 2003</title><subTitle>6th International Conference, Montréal, Canada, November 15-18, 2003. Proceedings</subTitle></titleInfo><name type="personal"><namePart type="given">Randy</namePart><namePart type="given">E.</namePart><namePart type="family">Ellis</namePart><affiliation>Queen’s University, Kingston, Ontario, Canada</affiliation><affiliation>E-mail: ellis@cs.queensu.ca</affiliation><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Terry</namePart><namePart type="given">M.</namePart><namePart type="family">Peters</namePart><affiliation>Canadian Surgical Technologies and Advanced Robotics, London, Ontario, Canada</affiliation><affiliation>E-mail: tpeters@imaging.robarts.ca</affiliation><role><roleTerm type="text">editor</roleTerm></role></name><genre type="Book Series" displayLabel="Proceedings"></genre><originInfo><copyrightDate encoding="w3cdtf">2003</copyrightDate><issuance>monographic</issuance></originInfo><subject><genre>Book Subject Collection</genre><topic authority="SpringerSubjectCodes" authorityURI="SUCO11645">Computer Science</topic></subject><subject><genre>Book Subject Group</genre><topic authority="SpringerSubjectCodes" authorityURI="I">Computer Science</topic><topic authority="SpringerSubjectCodes" authorityURI="I22021">Image Processing and Computer Vision</topic><topic authority="SpringerSubjectCodes" authorityURI="H28009">Health Informatics</topic><topic authority="SpringerSubjectCodes" authorityURI="H29005">Imaging / Radiology</topic><topic authority="SpringerSubjectCodes" authorityURI="I21017">Artificial Intelligence (incl. Robotics)</topic><topic authority="SpringerSubjectCodes" authorityURI="I22013">Computer Graphics</topic><topic authority="SpringerSubjectCodes" authorityURI="I2203X">Pattern Recognition</topic></subject><identifier type="DOI">10.1007/b93810</identifier><identifier type="ISBN">978-3-540-20462-6</identifier><identifier type="eISBN">978-3-540-39899-8</identifier><identifier type="ISSN">0302-9743</identifier><identifier type="eISSN">1611-3349</identifier><identifier type="BookTitleID">80281</identifier><identifier type="BookID">978-3-540-39899-8</identifier><identifier type="BookChapterCount">98</identifier><identifier type="BookVolumeNumber">2878</identifier><identifier type="BookSequenceNumber">2878</identifier><identifier type="PartChapterCount">20</identifier><part><date>2003</date><detail type="part"><title>Robotic Mechanism ans Mechanical Properties of Tissue</title></detail><detail type="volume"><number>2878</number><caption>vol.</caption></detail><extent 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