Newly developed haptic forceps enables sensitive, real-time measurements of organ elasticity

Atsuta, Koji; Ozawa, Soji; Shimojima, Naoki; Shimono, Tomoyuki; Susa, Shigeru; Takei, Takayoshi; Ohnishi, Kouhei; Morikawa, Yasuhide

doi:10.3109/13645701003644053

Cited by 6 publications

(4 citation statements)

References 18 publications

(15 reference statements)

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“…Another effort in indirect measurement of force is a masterslave haptic forceps developed to measure the elasticity of living organs [65]. The grip on the master side permitted grasping of objects through the slave-side forceps.…”

Section: Force Estimationmentioning

confidence: 99%

Haptics in Teleoperated Medical Interventions: Force Measurement, Haptic Interfaces and Their Influence on User's Performance

Abdi

Kulić

Croft

2020

IEEE Trans. Biomed. Eng.

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Objectives: Haptics in teleoperated medical interventions enables measurement and transfer of force information to the operator during robot-environment interaction. This paper provides an overview of the current research in this domain and guidelines for future investigations. Methods: We review current technologies in force measurement and haptic devices as well as their experimental evaluation and influence on user's performance. Results: Force sensing is moving away from the conventional proximal measurement methods to distal sensing and contact-less methods. Wearable devices that deliver haptic feedback on different body parts are increasingly playing an important role. Performance and accuracy improvement are the widely reported benefits of haptic feedback, while there is a debate on its effect on task completion time and exerted force. Conclusion: With the surge of new ideas, there is a need for better and more systematic validation of the new sensing and feedback technology, through better user studies and novel methods like validated benchmarks and new taxonomies. Significance: This review investigates haptics from sensing to interfaces within the context of user's performance and the validation procedures to highlight salient advances. It provides guidelines to future developments and highlights the shortcomings in the field.

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Section: Force Estimationmentioning

confidence: 99%

Haptics in Teleoperated Medical Interventions: Force Measurement, Haptic Interfaces and Their Influence on User's Performance

Abdi

Kulić

Croft

2020

IEEE Trans. Biomed. Eng.

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“…Atsuta et al . developed a similar system to demonstrate the efficacy of haptic forceps that use a bi‐lateral control scheme . A key feature is that it uses a disturbance observer, rather than sensor, to determine the interface force at the graspers.…”

Section: Technology For Measurement and Display Of Palpation Datamentioning

confidence: 99%

“…In a psychophysics study the device was found to be a significant improvement over conventional graspers (with no force feedback) for rating material stiffness in palpation like tests. Atsuta et al developed a similar system to demonstrate the efficacy of haptic forceps that use a bi-lateral control scheme (72). A key feature is that it uses a disturbance observer, rather than sensor, to determine the interface force at the graspers.…”

Section: Force Feedbackmentioning

confidence: 99%

Reviewing the technological challenges associated with the development of a laparoscopic palpation device

Culmer

Barrie

Hewson

et al. 2012

Robotics Computer Surgery

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Minimally invasive surgery (MIS) has heralded a revolution in surgical practice, with numerous advantages over open surgery. Nevertheless, it prevents the surgeon from directly touching and manipulating tissue and therefore severely restricts the use of valuable techniques such as palpation. Accordingly a key challenge in MIS is to restore haptic feedback to the surgeon. This paper reviews the state-of-the-art in laparoscopic palpation devices (LPDs) with particular focus on device mechanisms, sensors and data analysis. It concludes by examining the challenges that must be overcome to create effective LPD systems that measure and display haptic information to the surgeon for improved intraoperative assessment.

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“…Attempts were made in the past to measure organ elasticity in laparoscopic surgery. In particular, attempts using linear or stepper motors have been reported [14,15]. However, as the shape of the tip in these devices differs from the actual surgical forceps and elasticity measurement assumes uniformity of organs, it is only possible to predict values based on the calculations of organ changes that occur when force is applied with laparoscopic forceps.…”

Section: Introductionmentioning

confidence: 99%

Development of a Novel Tool for Assessing Deformation and Hardness of Real Organs: Pressure Measuring Grasper (PMEG)

Sawada

Kume

Fukuda

et al. 2016

ABE

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In recent years, surgeries requiring high surgical skills-including laparoscopic surgery and function-preserving surgery-are being more commonly conducted, which has led to the growing importance of surgeons training and preoperative simulations. Although various surgical simulators and 3D models of organs are now available, many surgeons still regard them as ineffective because they do not give a realistic sense of touch. In order to improve the quality of these simulations, it is necessary to collect data on how the shape of an organ is changed when pressed by laparoscopic forceps with various levels of force in actual operations. However, we have neither such data nor any equipment that can help us collect the data under operative environment. The main focus of this paper is to report on our development of the Pressure Measuring Grasper (hereinafter, PMEG) that can accurately measure the sizes of organs or tissues when they are grasped or pressed. PMEG is a modi cation of the digital vernier calipers, with the jaws modi ed to include our original parts (small load cells), making it possible to measure grasping pressure. The cross-sectional con guration of the PMEG jaws has the same structure as the tip of laparoscopic forceps, which allows the PMEG to simulate a situation in which tissue is grasped by laparoscopic forceps. We conducted two validation experiments to evaluate the measuring function of PMEG. One is veri cation of measuring pressure using weights, and the other is veri cation of measuring stiffness using a coil spring with known stiffness. These experiments showed that PMEG was able to measure the pressure and stiffness precisely. We also successfully used PMEG in a living pig s body, and expressed in numerical data the relationship between the surgeon s pressing force and organ deformation. The PMEG will contribute to the improvement of the surgical training system.

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Newly developed haptic forceps enables sensitive, real-time measurements of organ elasticity

Cited by 6 publications

References 18 publications

Haptics in Teleoperated Medical Interventions: Force Measurement, Haptic Interfaces and Their Influence on User's Performance

Haptics in Teleoperated Medical Interventions: Force Measurement, Haptic Interfaces and Their Influence on User's Performance

Reviewing the technological challenges associated with the development of a laparoscopic palpation device

Development of a Novel Tool for Assessing Deformation and Hardness of Real Organs: Pressure Measuring Grasper (PMEG)

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