A modular 2-DOF force-sensing instrument for laparoscopic surgery

Srinivas K. Prasad, Masaya Kitagawa, Gregory S. Fischer, Jason Zand, Mark A. Talamini, Russell H Taylor, Allison M. Okamura

Research output: Contribution to journalArticle


Minimally Invasive Surgery (MIS) has enjoyed increasing attention and development over the last two decades. As MIS systems evolve, the surgeon is increasingly insulated from patient contact, creating a trade-off between surgical sensory information and patient invasiveness. Incorporation of haptic feedback into MIS systems promises to restore sensory information surrendered in favor of minimal invasiveness. We have developed a novel, biocompatible 2-DOF force-sensing sleeve that can be used modularly with a variety of 5mm laparoscopic instruments. The functional requirements for such a device are defined, and design strategies are explored. Our formal device design is outlined and device calibration is presented with derived calibration functions. Illustrative experimental force data from a porcine model is presented. This device can be used for intra-abdominal force recording and feedback in laparoscopic environments; the implications and future potential for this technology are explored.

Original languageEnglish (US)
Pages (from-to)279-286
Number of pages8
JournalLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Publication statusPublished - 2003


ASJC Scopus subject areas

  • Computer Science(all)
  • Biochemistry, Genetics and Molecular Biology(all)
  • Theoretical Computer Science
  • Engineering(all)
  • Computer Science (miscellaneous)

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