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 journalArticlepeer-review


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.

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)


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