Research Papers

A Compact and Modular Laparoscopic Grasper With Tridirectional Force Measurement Capability

[+] Author and Article Information
Gregory Tholey

Department of Mechanical Engineering and Mechanics,  Drexel University, Philadelphia, PA 19104

Jaydev P. Desai2

Robotics, Automation Manipulation, and Sensing (RAMS) Laboratory, Department of Mechanical Engineering,  University of Maryland, College Park, MD 20742jaydev@umd.edu


Corresponding author.

J. Med. Devices 2(3), 031001 (Jul 11, 2008) (8 pages) doi:10.1115/1.2952817 History: Received July 23, 2007; Revised March 19, 2008; Published July 11, 2008

The introduction of minimally invasive surgery (MIS) into the operating room has led to significant advantages over conventional open surgery. Furthermore, the migration toward robot-assisted MIS over the past decade has provided additional advantages. However, the lack of haptic feedback in these tele-operated robotic surgical systems has inhibited the surgeon’s ability to diagnose tissue as healthy or unhealthy, thereby creating a need for force feedback in these systems. This paper presents the design and development of a compact and modular laparoscopic grasper with tridirectional force measurement capability for applications in robot-assisted MIS. The instrumented laparoscopic grasper is capable of measuring the normal grasping force, as well as the manipulation forces (horizontal and vertical) during grasping tasks. The grasper also has a modular design that allows for easy conversion between different surgical modalities, such as grasping, cutting, and dissecting. Preliminary tele-operative experiments with force feedback capability through a haptic feedback device for artificial tissue characterization as well as knot tightening experiments indicate the capability of this grasper.

Copyright © 2008 by American Society of Mechanical Engineers
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Figure 3

Actuation mechanism of the laparoscopic grasper. © 2007 IEEE.

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Figure 2

(a) Prototype of the laparoscopic grasper © 2007 IEEE, and (b) comparison with a commercially available laparoscopic grasper

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Figure 1

Telemanipulation platform for robot-assisted MIS. © 2007 IEEE.

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Figure 4

Quick-connect mechanism for attachment/detachment of the modular tool. © 2007 IEEE.

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Figure 5

Modular tool of the laparoscopic grasper along with a close-up of the jaw, which shows the resistive sensor

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Figure 6

Kinematic diagram of the linkage for the jaw assembly

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Figure 7

Relationship between the dc motor shaft displacement and the angle of the jaws

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Figure 8

Electromechanical device for calibration of the resistive sensor and strain gauges. © 2007 IEEE.

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Figure 9

Loading and unloading calibration curves for the resistive sensor. © 2007 IEEE.

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Figure 10

Location of the strain gauges and loading points for calibration on the modular tool. © 2007 IEEE.

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Figure 11

Strain gauge calibration curve. © 2007 IEEE.

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Figure 12

Grasping force for soft, medium, and hard samples in one trial

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Figure 13

Setup for the knot tightening using the tele-operation platform

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Figure 14

Results of the knot tightening experiment with force feedback and without force feedback for all 20 trials

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Figure 15

Position of the end-effector of the laparoscopic tool during a trial of the knot tightening experiment



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