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

First Page Preview

View Large
First page PDF preview
Copyright © 2014 by ASME
Your Session has timed out. Please sign back in to continue.


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]
Khan, M. S., Challacombe, B., Elhage, O., Rimington, P., Coker, B., Murphy, D., Grieve, A., and Dasgupta, P., 2012, “A Dual-Centre, Cohort Comparison of Open, Laparoscopic and Robotic-Assisted Radical Cystectomy,” Int. J. Clin. Pract., 66(7), pp. 656–662. [CrossRef] [PubMed]
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/


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

Grahic Jump Location
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




Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In