title: Force sensor for laparoscopic Babcock.
abstract: GENERAL: A force sensor has been designed and fabricated that will fit to existing laparoscopic grasping forceps (Babcocks) from Ethicon Endosurgery Inc. The goal of the sensor development is to provide tool-tissue force information to the surgeons so that surgeons can regain the sense of touch that has been lost through laparoscopy. Eventually, force sensing will provide feedback for robotic laparoscopic surgical platforms.
  
  
  OBJECTIVE
  We have developed a prototype force sensor system with ATI Industrial Automation. This tool is provided as an in-line transducer with six degrees of freedom that can retrofit current Babcocks. The sensor is currently being used in clinical trials with animals to determine the benefits. The sensor system utilizes industry proven technology in combination with a custom transducer and user interface. A GUI is part of the system and provides resolved force magnitude data in a graphical format for case of interpretation. Sterilization, size, and ease of use are addressed by the current design. Operating room reliability and safety are currently being investigated.
  
  
  BACKGROUND
  A three phase experimental trial using a porcine model is being completed that will test the hypothesis that force information can be used to minimize tissue trauma during laparoscopic surgery.
  
  
  RESULTS
  Based on our research, there is strong evidence that surgeons would benefit from information regarding the levels of force applied to tissues. In the future, robotic surgery will require force sensing. Surgical simulators could provide force feedback during simulated surgical procedures by using a sensor platform such as this. In addition, tool tip design in the future will benefit from the application of this technology and data base.
authors.affiliation: Intelligent Systems and Robotics Center, Sandia National Laboratories, Albuquerque, NM 87185-5800, USA.
authors.forename: A K
authors.initials: AK
authors.lastname: Morimoto
authors.forename: R D
authors.initials: RD
authors.lastname: Foral
authors.forename: J L
authors.initials: JL
authors.lastname: Kuhlman
authors.forename: K A
authors.initials: KA
authors.lastname: Zucker
authors.forename: M J
authors.initials: MJ
authors.lastname: Curet
authors.forename: T
authors.initials: T
authors.lastname: Bocklage
authors.forename: T I
authors.initials: TI
authors.lastname: MacFarlane
authors.forename: L
authors.initials: L
authors.lastname: Kory
mesh_terms: D000818:Animals; D001696:Biomechanical Phenomena; D020706:Laparoscopes; D008328:Man-Machine Systems; D010865:Pilot Projects; D013552:Swine; D014110:Touch; D014159:Transducers