Abstract
Minimally Invasive Surgery (MIS) has enjoyed increasing attention and development over the last two decades. As MIS systems evolve, the surgeon is increasingly insulated from patient contact, creating a trade-off between surgical sensory information and patient invasiveness. Incorporation of haptic feedback into MIS systems promises to restore sensory information surrendered in favor of minimal invasiveness. We have developed a novel, biocompatible 2-DOF force-sensing sleeve that can be used modularly with a variety of 5mm laparoscopic instruments. The functional requirements for such a device are defined, and design strategies are explored. Our formal device design is outlined and device calibration is presented with derived calibration functions. Illustrative experimental force data from a porcine model is presented. This device can be used for intra-abdominal force recording and feedback in laparoscopic environments; the implications and future potential for this technology are explored.
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Prasad, S.K. et al. (2003). A Modular 2-DOF Force-Sensing Instrument For Laparoscopic Surgery. In: Ellis, R.E., Peters, T.M. (eds) Medical Image Computing and Computer-Assisted Intervention - MICCAI 2003. MICCAI 2003. Lecture Notes in Computer Science, vol 2878. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-39899-8_35
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DOI: https://doi.org/10.1007/978-3-540-39899-8_35
Publisher Name: Springer, Berlin, Heidelberg
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