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In an open surgery, identification of precise margins for curative tissue resection is performed by manual palpation. This is not the case for minimally invasive and robotic procedures, where tactile feedback is either distorted or not available. In this paper, we introduce the concept of intraoperative wireless tissue palpation. The wireless palpation(More)
Minimally invasive abdominal surgery (laparoscopy) results in superior patient outcomes compared to conventional open surgery. However, the difficulty of manipulating traditional laparoscopic tools from outside the body of the patient generally limits these benefits to patients undergoing relatively low complexity procedures. The use of tools that fit(More)
Laparoscopy is abdominal surgery performed with long tools inserted through small incisions. The use of small incisions reduces patient trauma, but also eliminates the surgeon's ability to view and touch the surgical environment directly. These limitations generally restrict the application of laparoscopy to procedures less complex than those performed(More)
In this paper, we designed, built, and tested a novel single-port access laparoscopic surgery (SPA) specific camera system. This device (magnet camera) integrates a light source and video camera into a small, inexpensive, portable package that does not compete for space with the surgical tools during SPA. The device is inserted through a 26-mm incision in(More)
Palpating tissues and organs to identify hidden tumors or to detect buried vessels is not a viable option in laparoscopic surgery due to lack of force feedback. So far, research toward restoring tactile and kinesthetic sensations in minimally invasive surgery has focused on the distal sensing element or on the proximal rendering of haptic cues. In this work(More)
Natural orifice transgastric endoscopic surgery promises to eliminate skin incisions and reduce postoperative pain and discomfort. Such an approach provides a distinct benefit as compared with conventional laparoscopy, in which multiple entry incisions are required for tools and camera. Endoscopy currently is the only method for performing procedures(More)
Minimally invasive surgery (MIS) reduces patient trauma and shortens recovery time, but also limits the dexterity of the surgeon because degrees of freedom are lost due to the fulcrum effect of the entry incisions. Visual feedback is also limited by the laparoscope, which typically provides two-dimensional feedback and is constrained by the entry incision.(More)
Proper traffic control is critical in highway work zone safety. Traffic control devices such as signs, barricades, cones, and plastic safety barrels are often used. Accidents can occur because of improper work zone design, improper work zone housekeeping, and driver negligence. One solution is to automate safety devices. This paper presents a mobile safety(More)
A mobile in vivo camera robot was developed to provide the ability for a single port biopsy procedure. Such a robot can be inserted into the abdominal cavity through a standard trocar. The surgeon controls the robot using visual feedback from the on-board camera. Measurements were made to identify the forces required to successfully biopsy in vivo tissue,(More)
A new approach to laparoscopic surgery involves placing a robot completely within the patient. These in vivo robots are then able to provide visual feedback and task assistance that would otherwise require additional incisions. Wheeled in vivo robots can provide a mobile platform for cameras, graspers, and other sensory devices that assist in laparos-copy.(More)