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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Grahic Jump Location
Fig. 1

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

Grahic Jump Location
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

Grahic Jump Location
Fig. 5

Agreement between sensorized cannula and ATI measurements during static retraction tasks




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