Int J CARS (2017) 12:1333–1343 DOI 10.1007/s11548-017-1592-7 ORIGINAL ARTICLE Grasper having tactile sensing function using acoustic reﬂection for laparoscopic surgery 1 1 1 1 Hiep Hoang Ly · Yoshihiro Tanaka · Tomohiro Fukuda · Akihito Sano Received: 11 January 2017 / Accepted: 19 April 2017 / Published online: 28 April 2017 © CARS 2017 Abstract that the grasping force could be appropriately adjusted to Purpose: In current minimally invasive surgery techniques, handle different objects on the basis of sensor output. the tactile information available to the surgeon is limited. Conclusions: Experimental results demonstrated that the Improving tactile sensation could enhance the operability prototype grasper can measure grasping force, enabling safe of surgical instruments. Considering surgical applications, and stable grasping. requirements such as having electrical safety, a simple struc- ture, and sterilization capability should be considered. The Keywords Tactile sensor · Grasper · Minimally invasive current study sought to develop a grasper that can measure surgery · Acoustic reﬂection grasping force at the tip, based on a previously proposed tac- tile sensing method using acoustic reﬂection. This method can satisfy the requirements for surgical applications because Introduction it has no electrical element within the part that is inserted into the
International Journal of Computer Assisted Radiology and Surgery – Springer Journals
Published: Apr 28, 2017
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