The undamaged tissue grasping in a laparoscopic surgical grasper via distributed pressure measurement

Bilsay Sümer*, Mithat Can Özin, Turgay Eray, İlker Murat Koç

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

5 Citations (Scopus)

Abstract

The grasping action in a minimally invasive surgery operation is a blind operation in terms of the touch feedback and may result an undesirable tissue damage during the surgery. In this study, the interaction of the minimally invasive surgery tool with the tissue investigated by integrating a high resolution tactile sensor to the end-effector of the tool. The pressure distribution during the closing action of the grasper is characterized using the non-organic viscoelastic materials as well as organic tissues such as dead chicken liver and meat. Pressure mapping is used to calculate the net grasping force acting on the contact interface. The results show the total grasping force changes in the range of 0.2–0.7 N for different types of tissues.

Original languageEnglish
Pages (from-to)330-337
Number of pages8
JournalTribology International
Volume113
DOIs
Publication statusPublished - 2017

Bibliographical note

Publisher Copyright:
© 2017 Elsevier Ltd

Keywords

  • Center of pressure
  • Laparoscopic grasper
  • Pressure distribution
  • Tactile measurement

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