title: Evaluation of a laparoscopic grasper with force feedback.
abstract: BACKGROUND
  The clinical implementation of laparoscopic tools with haptic feedback is far from becoming a reality, partly because current tools with force feedback are not configured like conventional surgical instruments. Hence, our goal was to incorporate force sensing into existing laparoscopic tools for use in robot-assisted surgery.
  
  
  METHODS
  We developed a laparoscopic grasper with force-feedback capability that would help surgeons to differentiate tissue stiffness based on the measured tissue deformation.
  
  
  RESULTS
  Surgeons and nonsurgeons alike were able to qualitatively characterize different tissue samples with a high degree of accuracy. The observed force vs deformation characteristic for various tissue samples confirmed the ability of our apparatus to characterize tissues of varying stiffness.
  
  
  CONCLUSIONS
  This innovative laparoscopic grasper with force-feedback capability enables accurate characterization of tissue deformation and is a promising tool for minimally invasive surgery.
authors.affiliation: Program for Robotics, Intelligent Sensing, and Mechatronics (PRISM) Laboratory, Drexel University, 3141 Chestnut Street, MEM Department, Room 2-115, Philadelphia, PA 19104, USA. tie@coe.drexel.edu
authors.forename: T
authors.initials: T
authors.lastname: Hu
authors.forename: G
authors.initials: G
authors.lastname: Tholey
authors.forename: J P
authors.initials: JP
authors.lastname: Desai
authors.forename: A E
authors.initials: AE
authors.lastname: Castellanos
mesh_terms: D001696:Biomechanical Phenomena; D006801:Humans; D020706:Laparoscopes; D010535:Laparoscopy; D012371:Robotics / Q000295:instrumentation*