Journal ArticleDOI
Measuring grasping and cutting forces for reality-based haptic modeling
Gregory Tholey,Teeranoot Chanthasopeephan,Tie Hu,Jaydev P. Desai,A.C.W. Lau +4 more
- Vol. 1256, pp 794-800
TLDR
The first steps in realizing soft tissue models through the development of an automated laparoscopic grasper and tissue cutting equipment to characterize grasping and cutting tasks in minimally invasive surgery (MIS) are taken.Abstract:
The modeling of grasping and cutting in surgery are two fundamental tasks that must be achieved for the development of a reality-based haptic interface in robot-assisted surgery. Currently, the lack of these models with soft tissue has limited the accuracy of such interfaces in surgery. As a result, we have taken the first steps in realizing soft tissue models through the development of an automated laparoscopic grasper and tissue cutting equipment to characterize grasping and cutting tasks in minimally invasive surgery (MIS). The grasper is capable of generating force feedback that can be felt through a haptic interface device thereby allowing a user to feel the stiffness of the tissue that is being grasped. The cutting equipment employs a surgical scalpel attached to a six-axis force/torque sensor to measure the forces during cutting. The scalpel follows a linear motion created by a DC motor and leadscrew assembly.read more
Citations
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Journal ArticleDOI
Robotic Surgery: A Current Perspective
TL;DR: Robotic surgery is still in its infancy and its niche has not yet been well defined, so its current practical uses are mostly confined to smaller surgical procedures.
Journal ArticleDOI
Force feedback plays a significant role in minimally invasive surgery: results and analysis.
TL;DR: An automated laparoscopic grasper with force feedback capability to help surgeons differentiate tissue stiffness through a haptic interface device is developed and validated 1 of the 2 research hypotheses regarding incorporating force feedback with vision feedback to characterize tissues of varying stiffness.
Journal ArticleDOI
On the sharpness of straight edge blades in cutting soft solids: Part I – indentation experiments
TL;DR: In this paper, the authors derived a quantitative index of blade sharpness via indentation experiments in which elastomeric materials are cut using both sharp and blunt straight edge blades, and found that the depth of blade indentation required to initiate a cut or crack in the target material is a function of the condition or sharpness of the blade's cutting edge.
Book ChapterDOI
Design, Development, and Testing of an Automated Laparoscopic Grasper with 3-D Force Measurement Capability
TL;DR: The design of a laparoscopic grasper with tri-directional force measurement capability at the grasping jaws is described, which can measure grasping forces and lateral and longitudinal forces, such as those forces encountered in the probing of tissue.
Journal ArticleDOI
Measuring forces in liver cutting: new equipment and experimental results.
TL;DR: The newly developed hardware and software to characterize the mechanical response of pig liver during (ex vivo) cutting are presented and it is observed that the local effective Young's modulus determined by plane stress and plane strain analysis decreases with increasing cutting speed.
References
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Journal ArticleDOI
Force controlled and teleoperated endoscopic grasper for minimally invasive surgery-experimental performance evaluation
TL;DR: 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.
Proceedings ArticleDOI
Nonlinear and anisotropic elastic soft tissue models for medical simulation
TL;DR: In this paper, a deformable model based on nonlinear elasticity and the finite element method is proposed for large displacements, which improves the realism of the deformations and solves the problems related to the shortcomings of linear elasticity.
Proceedings ArticleDOI
A sensor-based minimally invasive surgery tool for detecting tissutal elastic properties(003) 5323219
TL;DR: This paper presents a first attempt to realize a prototype of sensor-based surgical tool using a modified commercial tool that could enhance surgeon's haptic perception of the manipulated tissue.
Proceedings ArticleDOI
Interactive simulation of surgical cuts
Daniel Bielser,Markus Gross +1 more
TL;DR: A mechanical scalpel model is devised which accounts for the most important interaction forces between the scalpel and the tissue and is computed using a localized, semi-implicit ODE (ordinary differential equation) solver.
Journal ArticleDOI
Synchronous and "early" metachronous colorectal adenocarcinoma: analysis of prognosis and current trends.
Han-Shiang Chen,S. M. Sheen-Chen +1 more
TL;DR: In this paper, the authors evaluated the accuracy of preoperative diagnostic examinations and determined whether patients with synchronous colorectal cancers differ from patients with a single colon cancer in clinicopathologic factors, the possibility of early metachronous colon cancer, and postoperative outcome.