Graphical Rendering of Localized Lumps for MIS Applications

Minimally invasive sugery (MIS) has increasingly been used in different surgical routines despite having significant shortcomings such as a lack of tactile feedback. Restoring this missing tactile information, particularly the information gained through tissue palpation, would be a significant enhancement to MIS capabilities. Tissue palpation is particularly important and commonly used in locating embedded lumps. The present study is inspired by this major limitation of the MIS procedure and is aimed at developing a system to reconstruct the lost palpation capability of surgeons in an effective way. By collecting necessary information on the size and location of hidden features using MIS graspers equipped with tactile sensors, the information can be processed and graphically rendered to the surgeon. Therefore, using the proposed system, surgeons can identify the presence or absence, location, and approximate size of hidden lumps simply by grasping the target organ with a smart endoscopic grasper. The results of the conducted experiments on the prototyped MIS graspers represented by graphical images are compared with those of the finite element models.

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2-D finite-element models of tactile sensors

[1993] Proceedings IEEE International Conference on Robotics and Automation ◽

10.1109/robot.1993.292097 ◽

2002 ◽

Cited By ~ 17

Author(s):

S.L. Ricker ◽

R.E. Ellis

Keyword(s):

Finite Element ◽

Finite Element Models ◽

Tactile Sensors

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Realization and Safety Measures of Patient Transfer by Nursing-Care Assistant Robot RIBA with Tactile Sensors

Journal of Robotics and Mechatronics ◽

10.20965/jrm.2011.p0360 ◽

2011 ◽

Vol 23 (3) ◽

pp. 360-369 ◽

Cited By ~ 25

Author(s):

Toshiharu Mukai ◽

◽

Shinya Hirano ◽

Hiromichi Nakashima ◽

Yuki Sakaida ◽

...

Keyword(s):

Information Processing ◽

Nursing Care ◽

Tactile Feedback ◽

Patient Transfer ◽

Tactile Sensors ◽

Safety Measures ◽

Tactile Information ◽

Challenging Tasks ◽

Aging Societies ◽

Bedridden Patient

In aging societies, there is a strong demand for robotics to tackle with problems caused by the aging population. Patient transfer, such as lifting and moving a bedridden patient from a bed to a wheelchair and back, is one of the most physically challenging tasks in nursing care, the burden of which should be reduced by the introduction of robot technologies. To this end, we have developed a new prototype robot named RIBA having human-type arms with tactile sensors. RIBA succeeded in transferring a human from a bed to a wheelchair and back. The tactile sensors play important roles in sensor feedback and detection of instructions from the operator. In this paper, after outlining the concept and specifications of RIBA, we will explain the tactile information processing, its application to tactile feedback and instruction detection, and safety measures to realize patient transfer. The results of patient transfer experiments are also reported.

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Mems Tactile Sensors for Surgical Instruments

MRS Proceedings ◽

10.1557/proc-773-n11.5 ◽

2003 ◽

Vol 773 ◽

Cited By ~ 3

Author(s):

Keith J. Rebello ◽

Kyle S. Lebouitz ◽

Michele Migliuolo

Keyword(s):

Minimally Invasive Surgery ◽

Minimally Invasive ◽

Invasive Surgery ◽

Tactile Feedback ◽

Surgical Instruments ◽

Tactile Sensors ◽

Surgical Tools ◽

Recent Introduction ◽

Significant Limitation ◽

Surgical Tool

AbstractThe development of sophisticated endoscopic tools and the recent introduction of robotics are expanding the applications of minimally invasive surgery. The lack of tactile feedback in the currently available endoscopic and robotic telemanipulation systems however represents a significant limitation. A need has arisen for the development of surgical instruments having integrated sensors. Current efforts to integrate sensors into or onto surgical tools has focused on fabrication of sensors on silicon, polyimide, or some other substrate and then attaching the sensors to a tool by hand or machine with epoxy, tape, or some other glue layer. Attaching the sensor in this manner has certain deficiencies. In particular, this method of attaching sensors to a surgical tool limits the sensors size, increases its thickness, and further constrains where the sensor can be placed. A method of fabricating tactile sensors on surgical instruments that addresses these deficiencies is discussed.

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Maximum Principle in Finite Element Models for Convection-Diffusion Phenomena

10.1016/s0304-0208(08)x7173-7 ◽

1983 ◽

Keyword(s):

Finite Element ◽

Maximum Principle ◽

Finite Element Models ◽

Convection Diffusion ◽

Diffusion Phenomena

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Internal Variable and Cellular Automata-Finite Element Models of Heat Treatment

International Journal for Multiscale Computational Engineering ◽

10.1615/intjmultcompeng.v8.i3.40 ◽

2010 ◽

Vol 8 (3) ◽

pp. 267-285 ◽

Cited By ~ 8

Author(s):

Piotr Maciol ◽

Jerzy Gawad ◽

Roman Kuziak ◽

Maciej Pietrzyk

Keyword(s):

Heat Treatment ◽

Finite Element ◽

Cellular Automata ◽

Internal Variable ◽

Finite Element Models

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A Finite Element Analysis of the General Rolling Contact Problem for a Viscoelastic Rubber Cylinder

Tire Science and Technology ◽

10.2346/1.2148795 ◽

1988 ◽

Vol 16 (1) ◽

pp. 18-43 ◽

Cited By ~ 10

Author(s):

J. T. Oden ◽

T. L. Lin ◽

J. M. Bass

Keyword(s):

Finite Element ◽

Variational Principles ◽

Standing Waves ◽

Rolling Contact ◽

Finite Element Models ◽

Viscoelastic Cylinder ◽

Element Analysis ◽

Elastic Rubber ◽

Frictional Effects ◽

Rough Foundation

Abstract Mathematical models of finite deformation of a rolling viscoelastic cylinder in contact with a rough foundation are developed in preparation for a general model for rolling tires. Variational principles and finite element models are derived. Numerical results are obtained for a variety of cases, including that of a pure elastic rubber cylinder, a viscoelastic cylinder, the development of standing waves, and frictional effects.

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