A Laparoscopic Grasper Handle with Integrated Augmented Tactile Feedback, Designed for Training Grasp Control

摘要

During laparoscopic grasping, excessive grasp forces and tissue slippage may well lead to tissue damage. Because surgeons have difficulty gauging the force exerted on the grasped tissue, it is desirable to train them in applying the right degree of force in order to prevent tissue damage. Previously it was demonstrated that grasp force control can be learned when augmented tactile feedback is provided in a training task. The present paper discusses the design of a new laparoscopic grasper with augmented tactile feedback. Two grasper handles were developed and tested. Each of them contained augmented tactile feedback actuators.