TY - GEN
T1 - Smart Laparoscopic Grasper Utilizing Force and Angle Sensors for Stiffness Assessment in Minimally Invasive Surgery
AU - Othman, Wael
AU - Qasaimeh, Mohammad A.
N1 - Funding Information:
Research supported by New York University Abu Dhabi.
Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - 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.
AB - 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.
KW - Equipment Design
KW - Humans
KW - Laparoscopes
KW - Laparoscopy
KW - Minimally Invasive Surgical Procedures
KW - Touch
UR - http://www.scopus.com/inward/record.url?scp=85122533353&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85122533353&partnerID=8YFLogxK
U2 - 10.1109/EMBC46164.2021.9630100
DO - 10.1109/EMBC46164.2021.9630100
M3 - Conference contribution
C2 - 34892792
AN - SCOPUS:85122533353
VL - 2021
T3 - Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference
SP - 7336
EP - 7339
BT - 43rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 43rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2021
Y2 - 1 November 2021 through 5 November 2021
ER -