Special Section Technical Briefs

Tissue Identification Through Back End Sensing on da Vinci EndoWrist Surgical Tool1

[+] Author and Article Information
Trevor K. Stephens, Zachary C. Meier, Timothy M. Kowalewski

Department of Mechanical Engineering,
University of Minnesota,
Minneapolis, MN 55455

Robert M. Sweet

Department of Urology,
University of Minnesota,
Minneapolis, MN 55455

Accepted and presented at The Design of Medical Devices Conference (DMD2015), April 13–16, 2015, Minneapolis, MN, USA.

Manuscript received March 3, 2015; final manuscript received March 17, 2015; published online July 16, 2015. Editor: Arthur Erdman.

J. Med. Devices 9(3), 030939 (Sep 01, 2015) (2 pages) Paper No: MED-15-1095; doi: 10.1115/1.4030571 History: Received March 03, 2015; Revised March 17, 2015; Online July 16, 2015

First Page Preview

View Large
First page PDF preview
Copyright © 2015 by ASME
Your Session has timed out. Please sign back in to continue.


Lanfranco, A. R., Castellanos, A. E., Desai, J. P., and Meyers, W. C., 2004, “Robotic Surgery: A Current Perspective,” Ann. Surg., 239(1), pp. 14–21. [CrossRef] [PubMed]
Okamura, A. M., 2004, “Methods for Haptic Feedback in Teleoperated Robot-Assisted Surgery,” Ind. Rob.: Int. J., 31(6), pp. 499–508. [CrossRef]
De, S., Rosen, J., Dagan, A., Hannaford, B., Swanson, P., and Sinanan, M., 2007, “Assessment of Tissue Damage Due to Mechanical Stresses,” Int. J. Rob. Res., 26(11–12), pp. 1159–1171. [CrossRef]
Sie, A., Winek, M., and Kowalewski, T. M., 2014, “Online Identification of Abdominal Tissues In Vivo for Tissue-Aware and Injury-Avoiding Surgical Robots,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), Chicago, Sept. 14–18, pp. 2036–2042. [CrossRef]
Rosen, J., Brown, J. D., De, S., Sinanan, M., and Hannaford, B., 2008, “Biomechanical Properties of Abdominal Organs In Vivo and Postmortem Under Compression Loads,” ASME J. Biomech. Eng., 130(2), p. 021020. [CrossRef]


Grahic Jump Location
Fig. 3

Experimental data with overlaying least squares fit

Grahic Jump Location
Fig. 2

Synthetic tissues used in experimentation

Grahic Jump Location
Fig. 1

External and internal views of design. (a) Transparent view of device and (b) internal hardware components.




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