Technical Brief

Dynamic Calibration Method for Instrumented Laparoscopic Surgical Graspers1

[+] Author and Article Information
Michael Winek, Robert Sweet, Timothy M. Kowalewski

Department of Mechanical Engineering,
University of Minnesota,
111 Church Street SE,
Minneapolis, MN 55455

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), 030933 (Jul 21, 2014) (2 pages) Paper No: MED-14-1084; doi: 10.1115/1.4027078 History: Received February 21, 2014; Revised March 03, 2014

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Center for Research in Education and Simulation Technologies (CREST), 2013, “Human Tissue Property Database,” University of Minnesota, Minneapolis, MN.
Ottensmeyer, M. P., Kerdok, A. E., Howe, R. D., and Dawson, S. L., 2004, “The Effects of Testing Environment on the Viscoelastic Properties of Soft Tissues,” Medical Simulation (Lecture Notes in Computer Science, Vol. 3078), Springer, Berlin, pp. 9–18. [CrossRef]
Ottensmeyer, M. P., Ben-Ur, E., and Salisbury, J. K., 2000, “Input and Output for Surgical Simulation: Devices to Measure Tissue Properties In Vivo and a Haptic Interface for Laparoscopy Simulators,” Stud. Health Technol. Inform., 70, pp. 236–242. [PubMed]
Brouwer, I., Ustin, J., Bentley, L., Sherman, A., Dhruv, N., and Tendick, F., 2001, “Measuring In Vivo Animal Soft Tissue Properties for Haptic Modeling in Surgical Simulation,” Stud. Health Technol. Inform., 81, pp. 69–74. [PubMed]
Kim, J., Tay, B. K., Stylopoulos, N., Rattner, D. W., and Srinivasan, M. A., 2003, “Characterization of Intra-Abdominal Tissues From In Vivo Animal Experiments for Surgical Simulation,” 6th International Conference of Medical Image Computing and Computer-Assisted Intervention (MICCAI 2003), Montréal, Canada, November 15–18, pp. 206–213. [CrossRef]
Brown, J. D., Rosen, J., Kim, Y. S., Chang, L., Sinanan, M. N., and Hannaford, B., 2003, “In-Vivo and In-Situ Compressive Properties of Porcine Abdominal Soft Tissues,” Stud. Health Technol. Inform., 94, pp. 26–32. [PubMed]
Sie, A., 2013, “Online Identification of Abdominal Tissues During Grasping Using an Instrumented Laparoscopic Grasper,” Ph.D. thesis, University of Minnesota, Minneapolis, MN.


Grahic Jump Location
Fig. 1

Distal sensor platform equipped with digital caliper for simple adjustment of jaw separation and mirrored load cells to measure load applied by each jaw undergoing compressions from an instrumented Babcock grasper

Grahic Jump Location
Fig. 2

Calibration curve for load cells

Grahic Jump Location
Fig. 3

Jaw displacement accuracy (left) and jaw force accuracy (right) from dynamic calibration

Grahic Jump Location
Fig. 4

Calibration curves for the instrumented Babcock grasper. (Left) is the dJaw response to FHandle and θHandle (right) is the FJaw response to FHandle and θHandle.

Grahic Jump Location
Fig. 5

Handle force versus encoder count representing the recorded data in vivo (leftmost) and ex vivo data collected from a porcine model over multiple consecutive trapezoidal compressions



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