Document Detail

Newly developed haptic forceps enables sensitive, real-time measurements of organ elasticity.
MedLine Citation:
PMID:  20158411     Owner:  NLM     Status:  MEDLINE    
Currently available master-slave manipulators cannot recognize the elasticity of organs or tissues. The aim of this study was to examine whether a newly developed haptic forceps using a linear motor could measure the elasticity of living organs using an animal model. We measured the elasticity values and the disruption limit values of rat organs using the new haptic forceps. The elasticity of the materials was calculated using the formula "power / position", with N/m as the unit. We successfully and reproducibly measured the changes in the elasticity values of various materials in real time. We were also able to perceive tactile changes transmitted through the forceps. The changes in gastrointestinal contraction were synchronized with the visually observed changes, and these changes were monitored and measured as elasticity values in real time using the forceps. The damage limits were also successfully measured. In conclusion, the new haptic forceps enabled highly sensitive, real-time measurements of elasticity in living rat organs. The use of this forceps enables the disruption limit values of organs to be measured, and the device could be useful for setting safety limits when grasping organs during endoscopic surgery.
Koji Atsuta; Soji Ozawa; Naoki Shimojima; Tomoyuki Shimono; Shigeru Susa; Takayoshi Takei; Kouhei Ohnishi; Yasuhide Morikawa
Publication Detail:
Type:  Journal Article    
Journal Detail:
Title:  Minimally invasive therapy & allied technologies : MITAT : official journal of the Society for Minimally Invasive Therapy     Volume:  19     ISSN:  1365-2931     ISO Abbreviation:  Minim Invasive Ther Allied Technol     Publication Date:  2010 Jun 
Date Detail:
Created Date:  2010-05-25     Completed Date:  2011-01-06     Revised Date:  -    
Medline Journal Info:
Nlm Unique ID:  9612996     Medline TA:  Minim Invasive Ther Allied Technol     Country:  England    
Other Details:
Languages:  eng     Pagination:  177-83     Citation Subset:  IM    
Department of General and Gastrointestinal Surgery, School of Medicine, Fujita Health University, Japan.
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MeSH Terms
Computer Simulation
Computer Systems
Elasticity / physiology*
Feasibility Studies
Palpation / instrumentation,  methods*
Robotics / instrumentation*,  methods
Surgical Instruments*
Surgical Procedures, Minimally Invasive / instrumentation
User-Computer Interface

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