title: Force-feedback grasper helps restore sense of touch in minimally invasive surgery.
abstract: The age of minimally invasive surgery has brought forth astounding changes in the health care field. Less pain and quicker patient recovery have been demonstrated with several types of operations that were once performed by an open technique. With these changes have come reports of complications. The decreased sense of touch is just one of several limitations inherent to current techniques of minimally invasive surgery that limit detection of subtle or unapparent lesions on palpation, such as common duct stones and liver lesions. The purpose of this study is to demonstrate the ability of a force-feedback-equipped grasper to restore some of the sense of touch that is lost in minimally invasive surgery. To demonstrate this ability, we created six silicone phantoms of identical dimensions but graded compliance, and asked 10 subjects to place them in increasing/decreasing order of compliance. They used three tools (their dominant gloved hand, a standard laparoscopic Babcock grasper, and our force-feedback device fitted with the identical Babcock grasper) to rate the compliance of the samples in a blinded fashion. These conditions thus approximated the conditions of open surgery, minimally invasive surgery, and minimally invasive surgery fitted with a force-sensing device, in terms of palpating tissues. Five surgeons skilled in minimally invasive surgery and five nonsurgeons participated in the study. The results indicate that the force-feedback device is significantly (P <0.05) better than a standard Babcock grasper at rating tissue compliance, but was not as successful as a gloved hand (mean of squared errors = 1.06, 3. 15, and 0.25, respectively). There was no significant difference between surgeons and nonsurgeons in rating compliance. We conclude that this force-feedback instrument is able to partially restore the sense of touch in minimally invasive surgery. This restored ability may thus potentially result in more efficient operations with improved diagnostic capabilities and fewer complications during minimally invasive surgery.
authors.affiliation: Department of Surgery, University of Washington, Seattle, WA, USA.
authors.forename: M
authors.initials: M
authors.lastname: MacFarlane
authors.forename: J
authors.initials: J
authors.lastname: Rosen
authors.forename: B
authors.initials: B
authors.lastname: Hannaford
authors.forename: C
authors.initials: C
authors.lastname: Pellegrini
authors.forename: M
authors.initials: M
authors.lastname: Sinanan
mesh_terms: D001672:Biocompatible Materials / Q000737:chemistry; D003187:Compliance; D013505:Digestive System Surgical Procedures / Q000295:instrumentation*; D004867:Equipment Design; D005246:Feedback; D006225:Hand / Q000502:physiology; D006801:Humans; D020706:Laparoscopes; D019060:Minimally Invasive Surgical Procedures / Q000295:instrumentation; D010173:Palpation; D012828:Silicones / Q000737:chemistry; D016037:Single-Blind Method; D014110:Touch
chemical_list: D001672:Biocompatible Materials; D012828:Silicones