Advertisement

Hand-Held Force Magnifier for Surgical Instruments: Evolution toward a Clinical Device

  • Randy Lee
  • Bing Wu
  • Roberta Klatzky
  • Vikas Shivaprabhu
  • John Galeotti
  • Samantha Horvath
  • Mel Siegel
  • Joel S. Schuman
  • Ralph Hollis
  • George Stetten
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7815)

Abstract

We have developed a novel and relatively simple method for magnifying forces perceived by an operator using a surgical tool. A sensor measures force between the tip of a tool and its handle, and a proportionally greater force is created by an actuator between the handle and a brace attached to the operator’s hand, providing an enhanced perception of forces at the tip of the tool. Magnifying forces in this manner may provide an improved ability to perform delicate surgical procedures. The device is completely hand-held and can thus be easily manipulated to a wide variety of locations and orientations. We have previously developed a prototype capable of amplifying forces only in the push direction, and which had a number of other limiting factors. We now present second-generation and third-generation devices, capable of both push and pull, and describe some of the engineering concerns in their design, as well as our future directions.

Keywords

haptics touch robotic surgery microsurgery force magnifier force-reflecting steady hand 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    Galeotti, J., Sajjad, A., Wang, B., Kagemann, L., Shukla, G., Siegel, M., Wu, B., Klatzky, R., Wollstein, G., Schuman, J., Stetten, G.: The OCT penlight: In-situ image guidance for microsurgery. SPIE Medical Imaging, paper #7625-1 (2010)Google Scholar
  2. 2.
    Bethea, B., Okamura, A., Kitagawa, M., Fitton, T., Cattaneo, S., Gott, V., Baumgartner, W., Yuy, D.: Application of Haptic Feedback to Robotic Surgery. J. Laparoendosc. Adv. Surg. Tech. A 14(3), 191–195 (2004)CrossRefGoogle Scholar
  3. 3.
    Kuchenbecker, K.J., Gewirtz, J., McMahan, W., Standish, D., Martin, P., Bohren, J., Mendoza, P.J., Lee, D.I.: VerroTouch: High-Frequency Acceleration Feedback for Telerobotic Surgery. In: Kappers, A.M.L., van Erp, J.B.F., Bergmann Tiest, W.M., van der Helm, F.C.T. (eds.) EuroHaptics 2010, Part I. LNCS, vol. 6191, pp. 189–196. Springer, Heidelberg (2010)CrossRefGoogle Scholar
  4. 4.
    Salcudean, S.E., Yan, J.: Motion scaling teleoperating system with force feedback suitable for microsurgery, U.S. Patent 5,382,885 (1995)Google Scholar
  5. 5.
    Salcudean, S.E., Yan, J.: Towards a Force-Reflecting Motion-Scaling System for Microsurgery. In: IEEE International Conference on Robotics and Automation, San Diego, California (1994)Google Scholar
  6. 6.
    Taylor, R., Jensen, P., Whitcomb, L., Barnes, A.C., Kumar, R., Stoianovici, D., Gupta, P., Wang, Z., deJuan, E., Kavoussi, L.R.: A Steady-Hand Robotic System for Microsurgical Augmentation. In: Taylor, C., Colchester, A. (eds.) MICCAI 1999. LNCS, vol. 1679, pp. 1031–1041. Springer, Heidelberg (1999)CrossRefGoogle Scholar
  7. 7.
    Fleming, I., Balicki, M., Koo, J., Iordachita, I., Mitchell, B., Handa, J., Hager, G., Taylor, R.: Cooperative Robot Assistant for Retinal Microsurgery. In: Metaxas, D., Axel, L., Fichtinger, G., Székely, G. (eds.) MICCAI 2008, Part II. LNCS, vol. 5242, pp. 543–550. Springer, Heidelberg (2008)CrossRefGoogle Scholar
  8. 8.
    Tabars, J., MacLachlan, R., Ettensohn, C., Riviere, C.: Cell Micromanipulation with an Active Handheld Micromanipulator. In: 32nd Annual International Conference of the IEEE EMBS, Buenos Aires, Argentina (2010)Google Scholar
  9. 9.
    Yao, H.-Y., Hayward, V., Ellis, R.E.: A Tactile Enhancement Instrument for Minimally Invasive Surgery. Computer Aided Surgery 10(4), 233–239 (2004)Google Scholar
  10. 10.
    Solazzi, M., Frisoli, A., Bergamasco, M.: Design of a Novel Finger Haptic Interface for Contact and Orientation Display. In: IEEE Haptics Symposium, Waltham, Massachusetts, March 25-26, p. 129 (2010)Google Scholar
  11. 11.
    Stetten, G., Wu, B., Klatzky, R., Galeotti, J., Siegel, M., Lee, R., Mah, F., Eller, A., Schuman, J., Hollis, R.: Hand-Held Force Magnifier for Surgical Instruments. In: Taylor, R.H., Yang, G.-Z. (eds.) IPCAI 2011. LNCS, vol. 6689, pp. 90–100. Springer, Heidelberg (2011)CrossRefGoogle Scholar
  12. 12.
    Payne, C., Latt, W.: A New Hand-Held Force-Amplifying Device for Micromanipulation. In: 2012 IEEE International Conference on Robotics and Automation, Saint Paul, Minnesota, May 14-18 (2012)Google Scholar
  13. 13.
    Hollis, R.L., Salcudean, S.E.: Lorentz Levitation Technology: A New Approach to Fine Motion Robotics, Teleoperation, Haptic Interfaces, and Vibration Isolation. In: 5th International Symposium on Robotics Research, Hidden Valley, PA, October 1-4 (1993)Google Scholar
  14. 14.
    Berkelman, P.J., Whitcomb, L.L., Taylor, R.H., Jensen, P.: A Miniature Microsurgical Instrument Tip Force Sensor for Enhanced Force Feedback during Robot-Assisted Manipulation. IEEE Transactions on Robotics and Automation 19(5), 917–922 (2003) CrossRefGoogle Scholar
  15. 15.
    Sun, Z., Balicki, M., Kang, J., Handa, J., Gehlbach, P., Taylor, R., Iordachita, I.: A Sub-Millemetric, 0.25mN Resolution Fully Integrated Fiber-Optic Force Sensing Tool for Retinal Microsurgery. Int. J. Comput. Assist. Radiol. Surg. 4(4), 383–390 (2009)CrossRefGoogle Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Randy Lee
    • 1
    • 4
  • Bing Wu
    • 2
  • Roberta Klatzky
    • 2
  • Vikas Shivaprabhu
    • 1
  • John Galeotti
    • 3
  • Samantha Horvath
    • 3
  • Mel Siegel
    • 3
  • Joel S. Schuman
    • 1
    • 5
  • Ralph Hollis
    • 3
  • George Stetten
    • 1
    • 3
    • 4
  1. 1.Department of BioengineeringUniversity of PittsburghUSA
  2. 2.Department of PsychologyCarnegie Mellon UniversityUSA
  3. 3.Robotics InstituteCarnegie Mellon UniversityUSA
  4. 4.Department of Biomedical EngineeringCarnegie Mellon UniversityUSA
  5. 5.Department of OphthalmologyUniversity of Pittsburgh School of MedicineUSA

Personalised recommendations