Abstract
A novel endoscopic grasper is being fabricated and tested. This grasper can be used in detecting lumps or tumors in biological tissues. The detailed fabrication process of the tactile sensor has been discussed. Custom-made sensors were integrated with the jaws of the endoscopic grasper and objects with known tactile features were tested by the designed grasper. Different experiments were performed with the system in order to determine both the position and the size of the lumps or inclusions located in the soft elastomeric media. The average discrepancy between the experimental and theoretical simulations was found to be less than 15%.
Highlights
Access surgery, known as minimally invasive surgery (MIS), is becoming very popular in new surgical procedures
MIS has a considerable number of advantages, such as, less tissue damage, less postoperative pain, faster recovery period, fewer postoperative complications, and reduced hospital stay, it suffers from several disadvantages [11,12,13,14]
The aim of this study was to develop an endoscopic grasper equipped with custom-designed micromachined tactile sensor targeted at detecting embedded objects
Summary
Known as minimally invasive surgery (MIS), is becoming very popular in new surgical procedures. These techniques have been developed to decrease the traumatic effects of various types of surgeries [1,2,3,4,5] In this kind of operative procedure and unlike open surgeries, the surgeons cannot use their hands directly in manipulating the operation site. MIS has a considerable number of advantages, such as, less tissue damage, less postoperative pain, faster recovery period, fewer postoperative complications, and reduced hospital stay, it suffers from several disadvantages [11,12,13,14] These disadvantages include: loss of tactile sensing feedback, the need for increased technical expertise, a possibly longer duration of the surgery, and difficult removal of bulky organs. The loss of tactile sensing has proven to be a serious issue and has been the target of extensive research [15,16,17,18,19]
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