Evaluating the role of vision and force feedback in minimally invasive surgery : New automated laparoscopic grasper and a case study
Identifieur interne : 007497 ( Main/Merge ); précédent : 007496; suivant : 007498Evaluating the role of vision and force feedback in minimally invasive surgery : New automated laparoscopic grasper and a case study
Auteurs : Gregory Tholey [États-Unis] ; Jaydev P. Desai [États-Unis] ; Andres E. Castellanos [États-Unis]Source :
- Lecture notes in computer science [ 0302-9743 ] ; 2003.
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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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Pascal:04-0140745Le document en format XML
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Castellanos</name><affiliation wicri:level="2"><inist:fA14 i1="02"><s1>Department of Surgery, Drexel University College of Medicine</s1><s2>Philadelphia, PA 19104</s2><s3>USA</s3><sZ>3 aut.</sZ></inist:fA14><country>États-Unis</country><placeName><region type="state">Pennsylvanie</region></placeName></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">INIST</idno><idno type="inist">04-0140745</idno><date when="2003">2003</date><idno type="stanalyst">PASCAL 04-0140745 INIST</idno><idno type="RBID">Pascal:04-0140745</idno><idno type="wicri:Area/PascalFrancis/Corpus">001100</idno><idno type="wicri:Area/PascalFrancis/Curation">000409</idno><idno type="wicri:Area/PascalFrancis/Checkpoint">000E65</idno><idno type="wicri:doubleKey">0302-9743:2003:Tholey G:evaluating:the:role</idno><idno type="wicri:Area/Main/Merge">007497</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a">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 wicri:level="2"><inist:fA14 i1="01"><s1>Program for Robotics, Intelligent Sensing, and Mechatronics (PRISM) Laboratory 3141 Chestnut Street, MEM Department, Room 2-115 Drexel University</s1><s2>Philadelphia, PA 19104</s2><s3>USA</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ></inist:fA14><country>États-Unis</country><placeName><region type="state">Pennsylvanie</region></placeName></affiliation></author><author><name sortKey="Desai, Jaydev P" sort="Desai, Jaydev P" uniqKey="Desai J" first="Jaydev P." last="Desai">Jaydev P. Desai</name><affiliation wicri:level="2"><inist:fA14 i1="01"><s1>Program for Robotics, Intelligent Sensing, and Mechatronics (PRISM) Laboratory 3141 Chestnut Street, MEM Department, Room 2-115 Drexel University</s1><s2>Philadelphia, PA 19104</s2><s3>USA</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ></inist:fA14><country>États-Unis</country><placeName><region type="state">Pennsylvanie</region></placeName></affiliation></author><author><name sortKey="Castellanos, Andres E" sort="Castellanos, Andres E" uniqKey="Castellanos A" first="Andres E." last="Castellanos">Andres E. Castellanos</name><affiliation wicri:level="2"><inist:fA14 i1="02"><s1>Department of Surgery, Drexel University College of Medicine</s1><s2>Philadelphia, PA 19104</s2><s3>USA</s3><sZ>3 aut.</sZ></inist:fA14><country>États-Unis</country><placeName><region type="state">Pennsylvanie</region></placeName></affiliation></author></analytic><series><title level="j" type="main">Lecture notes in computer science</title><idno type="ISSN">0302-9743</idno><imprint><date when="2003">2003</date></imprint></series></biblStruct></sourceDesc><seriesStmt><title level="j" type="main">Lecture notes in computer science</title><idno type="ISSN">0302-9743</idno></seriesStmt></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Feedback</term><term>Feedback regulation</term><term>Gripper</term><term>Gripping</term><term>Hardness</term><term>Human</term><term>Hypothesis test</term><term>Laparoscopic surgery</term><term>Modular design</term><term>Surgery</term><term>Tactile sensitivity</term><term>Tissue</term></keywords><keywords scheme="Pascal" xml:lang="fr"><term>Boucle réaction</term><term>Rétroaction</term><term>Chirurgie</term><term>Préhension</term><term>Sensibilité tactile</term><term>Coeliochirurgie</term><term>Conception modulaire</term><term>Préhenseur</term><term>Test hypothèse</term><term>Homme</term><term>Tissu</term><term>Dureté</term></keywords><keywords scheme="Wicri" type="topic" xml:lang="fr"><term>Chirurgie</term><term>Homme</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">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><affiliations><list><country><li>États-Unis</li></country><region><li>Pennsylvanie</li></region></list><tree><country name="États-Unis"><region name="Pennsylvanie"><name sortKey="Tholey, Gregory" sort="Tholey, Gregory" uniqKey="Tholey G" first="Gregory" last="Tholey">Gregory Tholey</name></region><name sortKey="Castellanos, Andres E" sort="Castellanos, Andres E" uniqKey="Castellanos A" first="Andres E." last="Castellanos">Andres E. Castellanos</name><name sortKey="Desai, Jaydev P" sort="Desai, Jaydev P" uniqKey="Desai J" first="Jaydev P." last="Desai">Jaydev P. Desai</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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