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Technical Brief

Sensorized Cannula for Measuring Body Wall Forces During Surgery1

[+] Author and Article Information
Paul M. Loschak

Intuitive Surgical Operations, Inc.,
Sunnyvale, CA 94086;
Harvard School of Engineering and Applied Sciences,
Cambridge, MA 02138

Smita De

Intuitive Surgical Operations, Inc.,
Sunnyvale, CA 94086;
Department of Urology,
Stanford Medical School,
Stanford, CA 94305

Amy E. Kerdok

Intuitive Surgical Operations, Inc.,
Sunnyvale, CA 94086

Accepted and presented at the Design of Medical Devices Conference (DMD2014), Minneapolis, MN, April 7–10, 2014.

Manuscript received February 21, 2014; final manuscript received March 3, 2014; published online July 21, 2014. Editor: Arthur G. Erdman.

J. Med. Devices 8(3), 030918 (Jul 21, 2014) (2 pages) Paper No: MED-14-1069; doi: 10.1115/1.4027039 History: Received February 21, 2014; Revised March 03, 2014

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References

Venkat, R., Edil, B. H., Schulick, R. D., Lidor, A. O., Makary, M. A., and WolfgangC. L., 2012, “Laparoscopic Distal Pancreatectomy is Associated With Significantly Less Overall Morbidity Compared to the Open Technique: A Systematic Review and Meta-Analysis,” Ann. Surg., 255(6), pp. 1048–1059. [CrossRef] [PubMed]
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Karthik, S., Augustine, A. J., Shibumon, M. M., and Pai, M. V., 2013, “Analysis of Laparoscopic Port Site Complications: A Descriptive Study,” J. Min. Access. Surg., 9(2), pp. 59–64. [CrossRef]
Richards, C., Rosen, J., Hannaford, B., Pellegrini, C., and Sinanan, M., 2000, “Skills Evaluation in Minimally Invasive Surgery Using Force/Torque Signatures,” Surg. Endosc., 14(9), pp. 791–798. [CrossRef] [PubMed]
Tholey, G., Pillarisetti, A., Green, W., and Desai, J. P., 2004, “Design, Development, and Testing of an Automated Laparoscopic Grasper With 3-D Force Measurement Capability,” Medical Simulation International Symposium (ISMS 2004), Cambridge, MA, June 17–18, pp. 38–48. [CrossRef]
Hanna, G. B., Drew, T., Arnold, G., Fakhry, M., and Cuschieri, A., 2008, “Development of Force Measurement System for Clinical Use in Minimal Access Surgery,” Surg. Endosc., 22(2), pp. 467–471. [CrossRef] [PubMed]
Tenzer, Y., Jentoft, L. P., and Howe, R. D., 2014, “Inexpensive and Easily Customized Tactile Array Sensors Using MEMS Barometers Chips,” IEEE Robotics and Automation Magazine (in press).
“TakkTile: Feel the Difference,” 2012, TakkTile LLC, Cambridge, MA, accessed Oct. 21, 2013, http://www.takktile.com/

Figures

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Fig. 1

(a) Robotic cannula, and (b) in body wall

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Fig. 3

(top) Cross section of sensorized cannula, and (bottom) final sensorized cannula assembly

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Fig. 4

Calibration curve for one sensor on a strip

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Fig. 5

Agreement between sensorized cannula and ATI measurements during static retraction tasks

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