Hand-held force magnifier for surgical instruments: Evolution toward a clinical device

Randy Lee, Bing Wu, Roberta Klatzky, Vikas Shivaprabhu, John Galeotti, Samantha Horvath, Mel Siegel, Joel S. Schuman, Ralph Hollis, George Stetten

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Abstract

    We have developed a novel and relatively simple method for magnifying forces perceived by an operator using a surgical tool. A sensor measures force between the tip of a tool and its handle, and a proportionally greater force is created by an actuator between the handle and a brace attached to the operator's hand, providing an enhanced perception of forces at the tip of the tool. Magnifying forces in this manner may provide an improved ability to perform delicate surgical procedures. The device is completely hand-held and can thus be easily manipulated to a wide variety of locations and orientations. We have previously developed a prototype capable of amplifying forces only in the push direction, and which had a number of other limiting factors. We now present second-generation and third-generation devices, capable of both push and pull, and describe some of the engineering concerns in their design, as well as our future directions.

    Original languageEnglish (US)
    Title of host publicationAugmented Environments for Computer-Assisted Interventions - 7th International Workshop, AE-CAI 2012, Held in Conjunction with MICCAI 2012, Revised Selected Papers
    Pages77-89
    Number of pages13
    DOIs
    StatePublished - 2013
    Event7th International Workshop on Augmented Environments for Computer-Assisted Interventions, AE-CAI 2012, Held in Conjunction with MICCAI 2012 - Nice, France
    Duration: Oct 5 2013Oct 5 2013

    Publication series

    NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
    Volume7815 LNCS
    ISSN (Print)0302-9743
    ISSN (Electronic)1611-3349

    Conference

    Conference7th International Workshop on Augmented Environments for Computer-Assisted Interventions, AE-CAI 2012, Held in Conjunction with MICCAI 2012
    CountryFrance
    CityNice
    Period10/5/1310/5/13

    Keywords

    • force magnifier
    • force-reflecting
    • haptics
    • microsurgery
    • robotic surgery
    • steady hand
    • touch

    ASJC Scopus subject areas

    • Theoretical Computer Science
    • Computer Science(all)

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  • Cite this

    Lee, R., Wu, B., Klatzky, R., Shivaprabhu, V., Galeotti, J., Horvath, S., Siegel, M., Schuman, J. S., Hollis, R., & Stetten, G. (2013). Hand-held force magnifier for surgical instruments: Evolution toward a clinical device. In Augmented Environments for Computer-Assisted Interventions - 7th International Workshop, AE-CAI 2012, Held in Conjunction with MICCAI 2012, Revised Selected Papers (pp. 77-89). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 7815 LNCS). https://doi.org/10.1007/978-3-642-38085-3_9