Loading...

A triple-jaw actuated and sensorized instrument for grasping large organs during minimally invasive robotic surgery

Mirbagheri, A ; Sharif University of Technology | 2013

1621 Viewed
  1. Type of Document: Article
  2. DOI: 10.1002/rcs.1438
  3. Publisher: 2013
  4. Abstract:
  5. Background: Secure grasping and effective manipulation of delicate large organs during robotic surgery operations needs especially designed instruments that can enclose a large amount of tissue and feed back the pinch forces. Methods: A large organ triple-jaw grasper was instrumented using practical force sensory and actuating systems. A force tracking scheme was proposed to facilitate auto-grasping of large organs during robotic teleoperation surgery. An on-site force commanding/reflecting mechanism was also implemented to use the device as an independent hand-held robotic instrument. The efficacy of the robotic grasper was examined in phantom tests. Results: The instrument grasped large soft objects effectively and safely with accurately measured and controlled pinch forces. Furthermore, it could characterize the overall mechanical behavior of the grasping objects. Conclusions: The instrument designed provides a potential solution for the safe and effective grasping and manipulation of large abdominal organs, either as a hand-held device, or in a teleoperation framework
  6. Keywords:
  7. Force feedback ; Minimally invasive surgery ; Hand-held robotic instrument ; Robotic surgery ; Tissue characterization ; Accuracy ; Controlled study ; Device safety ; Force transducer ; Grip strength ; Large organ grasper ; Mechanics ; Microcomputer ; Minimally invasive robotic surgery ; Auto grasping ; Phantom ; Surgical equipment ; Triple jaw grasper ; Computer-Aided Design ; Equipment Design ; Equipment Failure Analysis ; Humans ; Manometry ; Micromanipulation ; Robotics ; Surgery, Computer-Assisted ; Surgical Procedures, Minimally Invasive ; Viscera
  8. Source: International Journal of Medical Robotics and Computer Assisted Surgery ; Volume 9, Issue 1 , 2013 , Pages 83-93 ; 14785951 (ISSN)
  9. URL: http://onlinelibrary.wiley.com/doi/10.1002/rcs.1438/abstract