Surgical Instruments Motion Safety Constraint Based on Haptic Virtual Fixture

2019 ◽  
Author(s):  
Hao Qiu ◽  
Bo Pan ◽  
Yili Fu ◽  
Yue Ai
Keyword(s):  
Surgical Instruments ◽  
Virtual Fixture ◽  
Safety Constraint

[Liber de cirurgia, illustrated with surgical instruments]

1400 ◽  
Author(s):  
Abū al-Qāsim Khalaf ibn ʻAbbās a
Keyword(s):  
Surgical Instruments

The Sterility of Reusable Surgical Instruments with Pouches Packaging on One of the Private Hospital in Bandung

2017 ◽  
Vol 8 (2) ◽  
Author(s):  
Kurniawansyah I. S. ◽  
Mita S. R. ◽  
Najla E. ◽  
Nindayani E.
Keyword(s):  
Storage Time ◽  
Private Hospital ◽  
Surgical Instruments ◽  
Healthcare Associated Infection ◽  
Sterility Testing ◽  
Reusable Instruments ◽  
Healthcare Associated ◽  
The Relationship ◽  
Common Infection ◽  
Long Storage

Healthcare associated infection is one of the common infection that happens in Indonesia. One form control to prevent healthcare associated infection is the sterilization process of the materials and medical instruments that used for taking care of patients. At the private hospital whereas a place of research, there’s never been done the study of sterility test for reusable instrument with pouches, based on previous studies showed that 8 sets from 40 sets of reusable instrument with linen were not sterile moreover there were positively influence from the amount of time to the sterility of reusable instrument. The purpose of these studies was to determining the relationship between a long storage time and the sterility of reusable instruments with pouches. The method that used in this study was the sterility testing of reusable instrument with pouches which were stored in a central operations room storage with a long storage time of 1 and 2 months. From 30 reusable instruments with pouches which were stored for nine months there were 5 instruments were not sterile. The results of statistic analysis showed that the amount of storage time not significantly associated to the sterility of reusable instrument with pouches in the operating room central storage space.

scholarly journals Force-Free Control for Direct Teaching of a Surgical Assistant Robot End Effector with Wire-Driven Bidirectional Telescopic Mechanism

Sensors ◽  
2021 ◽  
Vol 21 (10) ◽  
pp. 3498
Author(s):  
Youqiang Zhang ◽  
Cheol-Su Jeong ◽  
Minhyo Kim ◽  
Sangrok Jin
Keyword(s):  
Control Algorithm ◽  
Position Control ◽  
Friction Model ◽  
Surgical Instruments ◽  
Control Input ◽  
End Effector ◽  
Motor Current ◽  
Direct Teaching ◽  
End Effectors ◽  
Teaching Operation

This paper shows the design and modeling of an end effector with a bidirectional telescopic mechanism to allow a surgical assistant robot to hold and handle surgical instruments. It also presents a force-free control algorithm for the direct teaching of end effectors. The bidirectional telescopic mechanism can actively transmit force both upwards and downwards by staggering the wires on both sides. In order to estimate and control torque via motor current without a force/torque sensor, the gravity model and friction model of the device are derived through repeated experiments. The LuGre model is applied to the friction model, and the static and dynamic parameters are obtained using a curve fitting function and a genetic algorithm. Direct teaching control is designed using a force-free control algorithm that compensates for the estimated torque from the motor current for gravity and friction, and then converts it into a position control input. Direct teaching operation sensitivity is verified through hand-guiding experiments.

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