Grasper integrated tri-axial force sensor system for robotic minimally invasive surgery.

This paper describes the design, microfabrication, and characterization of a miniature force sensor for providing tactile feedback in robotic surgical systems. We demonstrate for the first time a microfabricated sensor that can provide triaxial sensing (normal, x-shear, y-shear) in a single sensor element that can be integrated with commercial robotic surgical graspers. Features of this capacitive force sensor include differential sensing in the shear directions as well as a design where all electrical connections are on one side, leaving the backside pristine as the sensing face.

Annular pancreas in the adult: management with laparoscopic gastrojejunostomy.

Annular pancreas is an uncommon congenital anomaly associated with duodenal atresia in neonates. Rarely, the condition may manifest later in life. These symptoms include abdominal pain, nausea, and vomiting and usually arise due to obstruction to gastric emptying.