Laparoscopic grasper with an integrated tactile feedback system

Minimally invasive laparoscopic surgery offers advantages over open procedures, such as improved recovery time, decreased trauma, and decreased hospital expenses. One drawback to laparoscopic surgery is that tactile feedback provided to the hands of the surgeon is attenuated. Additional tactile feedback may allow surgeons to better control grip force and better identify tissue characteristics, potentially decreasing the learning curve associated with laparoscopic surgery. A tactile feedback system has been developed and integrated into a modified laparoscopic grasper, allowing the forces applied at the grasper tips to be felt by the surgeon's hands. Piezoresistive sensors transmit force data to a microcontroller, which then controls a solenoid valve-based pneumatic system. Feedback is provided using silicone-based balloon actuators, which inflate to apply pressure to the surgeon's hand. The actuators are flush with the handles, such that they do not hinder movements during surgical task performance. Preliminary tests have shown successful operation of the system with latency less than 50 ms, high actuation pressures (15 PSI), and high perceptual accuracy of the balloon-based stimuli (≫ 90%).