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Abstract Laparoscopic surgery has a notably high learning curve, hindering typical approaches to training. Due to unique challenges that are not present in open surgery (the hinge effect, small field of view (FoV), lack of depth perception, and small workspace), a surgical resident may be delayed in participating in laparoscopic surgery until later in residency. Having a narrow window to complete highly specialized training can lead to graduates feeling under-prepared for solo practice. Additionally, delayed introduction may expose trainees to fewer than 200 laparoscopic cases. Therefore, there is a need for surgical residents to increase both their caseload and training window without compromising patient safety. This project aims to develop and test a proof-of-concept prototype that uses granular jamming technology to controllably vary the force required to move a laparoscopic tool. By increasing tool resistance, the device helps prevents accidental injury to important nearby anatomical structures such as urinary tract, vasculature, and/or bowel. Increasing the safety of laparoscopic surgery would allow residents to begin their training earlier, gaining exposure and confidence. A device to adjust tool resistance has benefits to the experienced surgeon as well – surgeries require continuous tool adjustment and tension, resulting in fatigue. Increasing tool resistance can assist surgeons in situations requiring continuous tension and can also provide safety against sudden movements. This investigational device was prototyped using SolidWorks CAD software, then 3D printed and assessed with a laparoscopic box trainer. 

Background: Lack of feasible palpation display for primary diagnosis of a tumor without any need of physician to patient physical contact has been reported as one of the major concerns. To further explore this area, we developed a novel palpation device consisting of a uniquely designed nodule mechanism (based on optimizing nodule top and bottom hemisphere wall thickness and manipulating granular jamming method) that can vary stiffness while maintaining the shape of the same nodule display, for which current devices are not capable of in terms of aping a tumor. Methods: This paper evaluates the manufacturing approach of the nodule, exploring several iterations of the nodule prototype. Experiments were performed on nodule prototypes of varying wall thicknesses in order to evaluate its effect on stiffness and deformation. Results and Conclusions: Experimental results showed that nodule top and bottom wall thickness had a significant effect on the stiffness and deformation of the nodule. The higher the thickness of the top hemisphere and the lower the thickness of the bottom hemisphere, the greater the stiffness the nodule can achieve. Similarly, the display shape of the nodule can be maintained with minimal or no deformation if the nodule top hemisphere thickness is optimally higher than bottom hemisphere thickness.