Force controlled and teleoperated endoscopic grasper for minimally invasive surgery--experimental performance evaluation.
Identifieur interne : 000068 ( Ncbi/Checkpoint ); précédent : 000067; suivant : 000069Force controlled and teleoperated endoscopic grasper for minimally invasive surgery--experimental performance evaluation.
Auteurs : J. Rosen [États-Unis] ; B. Hannaford ; M P Macfarlane ; M N SinananSource :
- IEEE transactions on bio-medical engineering [ 0018-9294 ] ; 1999.
English descriptors
- KwdEn :
- Algorithms, Analysis of Variance, Animals, Digestive System Physiological Phenomena, Elasticity, Endoscopes, Equipment Design, Feedback, Humans, Latex, Liver (physiology), Lung (physiology), Materials Testing, Minimally Invasive Surgical Procedures (instrumentation), Palpation, Pilot Projects, Robotics (instrumentation), Silicones, Spleen (physiology), Stress, Mechanical, Swine, Therapy, Computer-Assisted, User-Computer Interface.
- MESH :
- chemical : Latex, Silicones.
- instrumentation : Minimally Invasive Surgical Procedures, Robotics.
- physiology : Liver, Lung, Spleen.
- Algorithms, Analysis of Variance, Animals, Digestive System Physiological Phenomena, Elasticity, Endoscopes, Equipment Design, Feedback, Humans, Materials Testing, Palpation, Pilot Projects, Stress, Mechanical, Swine, Therapy, Computer-Assisted, User-Computer Interface.
Abstract
Minimally invasive surgery generates new user interfaces which create visual and haptic distortion when compared to traditional surgery. In order to regain the tactile and kinesthetic information that is lost, a computerized force feedback endoscopic surgical grasper (FREG) was developed with computer control and a haptic user interface. The system uses standard unmodified grasper shafts and tips. The FREG can control grasping forces either by surgeon teleoperation control, or under software control. The FREG performance was evaluated using an automated palpation function (programmed series of compressions) in which the grasper measures mechanical properties of the grasped materials. The material parameters obtained from measurements showed the ability of the FREG to discriminate between different types of normal soft tissues (small bowel, lung, spleen, liver, colon, and stomach) and different kinds of artificial soft tissue replication materials (latex/silicone) for simulation purposes. In addition, subjective tests of ranking stiffness of silicone materials using the FREG teleoperation mode showed significant improvement in the performance compared to the standard endoscopic grasper. Moreover, the FREG performance was closer to the performance of the human hand than the standard endoscopic grasper. The FREG as a tool incorporating the force feedback teleoperation technology may provide the basis for application in telesurgery, clinical endoscopic surgery, surgical training, and research.
PubMed: 10513126
Affiliations:
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Hannaford</name></author><author><name sortKey="Macfarlane, M P" sort="Macfarlane, M P" uniqKey="Macfarlane M" first="M P" last="Macfarlane">M P Macfarlane</name></author><author><name sortKey="Sinanan, M N" sort="Sinanan, M N" uniqKey="Sinanan M" first="M N" last="Sinanan">M N Sinanan</name></author></titleStmt><publicationStmt><idno type="wicri:source">PubMed</idno><date when="1999">1999</date><idno type="RBID">pubmed:10513126</idno><idno type="pmid">10513126</idno><idno type="wicri:Area/PubMed/Corpus">001E85</idno><idno type="wicri:Area/PubMed/Curation">001E85</idno><idno type="wicri:Area/PubMed/Checkpoint">001C42</idno><idno type="wicri:Area/Ncbi/Merge">000068</idno><idno type="wicri:Area/Ncbi/Curation">000068</idno><idno type="wicri:Area/Ncbi/Checkpoint">000068</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">Force controlled and teleoperated endoscopic grasper for minimally invasive surgery--experimental performance evaluation.</title><author><name sortKey="Rosen, J" sort="Rosen, J" uniqKey="Rosen J" first="J" last="Rosen">J. Rosen</name><affiliation wicri:level="4"><nlm:affiliation>Department of Electrical Engineering, University of Washington, Seattle 98195, USA.</nlm:affiliation><country xml:lang="fr">États-Unis</country><wicri:regionArea>Department of Electrical Engineering, University of Washington, Seattle 98195</wicri:regionArea><orgName type="university">Université de Washington</orgName><placeName><settlement type="city">Seattle</settlement><region type="state">Washington (État)</region></placeName></affiliation></author><author><name sortKey="Hannaford, B" sort="Hannaford, B" uniqKey="Hannaford B" first="B" last="Hannaford">B. Hannaford</name></author><author><name sortKey="Macfarlane, M P" sort="Macfarlane, M P" uniqKey="Macfarlane M" first="M P" last="Macfarlane">M P Macfarlane</name></author><author><name sortKey="Sinanan, M N" sort="Sinanan, M N" uniqKey="Sinanan M" first="M N" last="Sinanan">M N Sinanan</name></author></analytic><series><title level="j">IEEE transactions on bio-medical engineering</title><idno type="ISSN">0018-9294</idno><imprint><date when="1999" type="published">1999</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Algorithms</term><term>Analysis of Variance</term><term>Animals</term><term>Digestive System Physiological Phenomena</term><term>Elasticity</term><term>Endoscopes</term><term>Equipment Design</term><term>Feedback</term><term>Humans</term><term>Latex</term><term>Liver (physiology)</term><term>Lung (physiology)</term><term>Materials Testing</term><term>Minimally Invasive Surgical Procedures (instrumentation)</term><term>Palpation</term><term>Pilot Projects</term><term>Robotics (instrumentation)</term><term>Silicones</term><term>Spleen (physiology)</term><term>Stress, Mechanical</term><term>Swine</term><term>Therapy, Computer-Assisted</term><term>User-Computer Interface</term></keywords><keywords scheme="MESH" type="chemical" xml:lang="en"><term>Latex</term><term>Silicones</term></keywords><keywords scheme="MESH" qualifier="instrumentation" xml:lang="en"><term>Minimally Invasive Surgical Procedures</term><term>Robotics</term></keywords><keywords scheme="MESH" qualifier="physiology" xml:lang="en"><term>Liver</term><term>Lung</term><term>Spleen</term></keywords><keywords scheme="MESH" xml:lang="en"><term>Algorithms</term><term>Analysis of Variance</term><term>Animals</term><term>Digestive System Physiological Phenomena</term><term>Elasticity</term><term>Endoscopes</term><term>Equipment Design</term><term>Feedback</term><term>Humans</term><term>Materials Testing</term><term>Palpation</term><term>Pilot Projects</term><term>Stress, Mechanical</term><term>Swine</term><term>Therapy, Computer-Assisted</term><term>User-Computer Interface</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">Minimally invasive surgery generates new user interfaces which create visual and haptic distortion when compared to traditional surgery. In order to regain the tactile and kinesthetic information that is lost, a computerized force feedback endoscopic surgical grasper (FREG) was developed with computer control and a haptic user interface. The system uses standard unmodified grasper shafts and tips. The FREG can control grasping forces either by surgeon teleoperation control, or under software control. The FREG performance was evaluated using an automated palpation function (programmed series of compressions) in which the grasper measures mechanical properties of the grasped materials. The material parameters obtained from measurements showed the ability of the FREG to discriminate between different types of normal soft tissues (small bowel, lung, spleen, liver, colon, and stomach) and different kinds of artificial soft tissue replication materials (latex/silicone) for simulation purposes. In addition, subjective tests of ranking stiffness of silicone materials using the FREG teleoperation mode showed significant improvement in the performance compared to the standard endoscopic grasper. Moreover, the FREG performance was closer to the performance of the human hand than the standard endoscopic grasper. The FREG as a tool incorporating the force feedback teleoperation technology may provide the basis for application 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="Hannaford, B" sort="Hannaford, B" uniqKey="Hannaford B" first="B" last="Hannaford">B. Hannaford</name><name sortKey="Macfarlane, M P" sort="Macfarlane, M P" uniqKey="Macfarlane M" first="M P" last="Macfarlane">M P Macfarlane</name><name sortKey="Sinanan, M N" sort="Sinanan, M N" uniqKey="Sinanan M" first="M N" last="Sinanan">M N Sinanan</name></noCountry><country name="États-Unis"><region name="Washington (État)"><name sortKey="Rosen, J" sort="Rosen, J" uniqKey="Rosen J" first="J" last="Rosen">J. Rosen</name></region></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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