Browsing by Subject "laparoscopic"

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    Online Identification of Abdominal Tissues During Grasping Using an Instrumented Laparoscopic Grasper
    (2013-08) Sie, Astrini
    Modern surgical tools provide no advanced features like automated error avoidance or diagnostic information regarding the tissues they interact with. This work motivates and presents the design of a “smart” laparoscopic surgical grasper that can identify the tissue it is grasping while the grasp is occurring. This allows automated prevention of certain errors like crush injury. A nonlinear dynamical model of tissue mechanics is adopted along with an extended Kalman filter to demonstrate the feasibility of this design in simulation and in situin vivo on porcine models. Results indicate that while the approach is sensitive to initial conditions, tissue can be identified during the first 0.3s of a grasp.