Smart Laparoscopic Grasper Utilizing Force and Angle Sensors for Stiffness Assessment in Minimally Invasive Surgery

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

Abstract

As an alternative to open surgery, minimally invasive surgery (MIS) utilizes small skin incisions as ports to insert an endoscope and surgical tools. MIS offers significant advantages, including reduced pain, shorter recovery times, and better cosmetic outcomes than classical surgeries. However, MIS procedures come at the cost of losing the sense of touch, which surgeons rely on to examine the tissues under operation, palpate organs, and assessing their conditions. This has encouraged researchers to develop smart MIS tools that provide artificial tactile sensation, mostly using electrical- or optical-based tactile sensors. In this work, we introduce a prototype of a smart laparoscopic grasper integrated with force and angle sensing capabilities via off-the-shelf sensors. The specification and design of the smart grasper are presented, as well as a demonstration on stiffness assessment of elastomeric samples and chicken meat. Overall, our prototype exhibits great potential for MIS applications, with room for future improvements.Clinical Relevance - The development of a smart laparoscopic grasper for MIS applications helps in restoring the tactile sensation to surgeons and enables safe grasping and manipulation of human organs.

Original languageEnglish (US)
Title of host publication43rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages7336-7339
Number of pages4
Volume2021
ISBN (Electronic)9781728111797
DOIs
StatePublished - 2021
Event43rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2021 - Virtual, Online, Mexico
Duration: Nov 1 2021Nov 5 2021

Publication series

NameAnnual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference
ISSN (Print)2375-7477

Conference

Conference43rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2021
Country/TerritoryMexico
CityVirtual, Online
Period11/1/2111/5/21

Keywords

  • Equipment Design
  • Humans
  • Laparoscopes
  • Laparoscopy
  • Minimally Invasive Surgical Procedures
  • Touch

ASJC Scopus subject areas

  • Signal Processing
  • Health Informatics
  • Computer Vision and Pattern Recognition
  • Biomedical Engineering

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