Grasping Contact Analysis of Viscoelastic Materials With Applications in Minimally Invasive Surgery

2006 ◽  
Author(s):  
Ali Bonakdar ◽  
Javad Dargahi ◽  
Rama Bhat
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Closed Form ◽  
Contact Force ◽  
Invasive Surgery ◽  
Contact Area ◽  
Biological Tissues ◽  
Closed Form Expression ◽  
Viscoelastic Materials ◽  
Form Analysis

This paper presents a method to determine the contact force and pressure on the surface of viscoelastic objects grasped by an endoscopic grasper, used in Minimally Invasive Surgery (MIS). Normally, an endoscopic grasper is corrugated (teeth-like) in order to grasp slippery tissues. It is highly important to avoid damage to the tissues during grasping and manipulation in endoscopic surgery. Therefore, it is essential to determine the exact contact force on the surface of the tissue. To this end, initially a comprehensive closed form analysis of grasping contact force and pressure on elastic and particularly viscoelastic materials which have similar behavior as that of biological tissues is studied. The behavior of a rigid grasper with wedge-like teeth, when pressed into a delayed elasticity material is being examined. Initially, a single wedge penetrating into a solid is studied and then is extended to the grasper. The elastic wedge indentation is the basis of this study and the effects of time are included in the equations by considering the corresponding integral operator from viscoelastic stress-stain relations. Under the action of a constant normal load, the penetration of the indenter and the contact area will change. In this research, the variation of the contact area with time and the grasping contact force is studied. The results of this study which provides a closed form expression for grasping contact force and contact area are compared with those from elastic analysis.

An Ultrasonic Micro Knife Based on Triangular Silicon Horn Chip

2015 ◽  
Vol 645-646 ◽  
pp. 1363-1367
Author(s):  
Ting Ting Wang ◽  
Jing Wu ◽  
Ke Man Ying ◽  
Wen Gang Li ◽  
Hang Guo
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Biological Tissues ◽  
Test Results ◽  
Fundamental Theory ◽  
Ultrasonic Scalpel ◽  
Mems Technology ◽  
Silicon Based

This paper presents a silicon-based ultrasonic scalpel for minimally invasive surgery. Starting from the fundamental theory, the micro ultrasonic scalpel using triangular silicon horn chip is designed and fabricated in detail. It is found that the magnification of the composed horn keeps 5.8 when size changes. A micro scalpel has been fabricated by MEMS technology. The test results show that a good performance in vibration and fit for puncturing biological tissues at the micro/nanoscale are obtained in the micro ultrasonic scalpel.

scholarly journals Complete follow-the-leader kinematics using concentric tube robots

2017 ◽  
Vol 37 (1) ◽  
pp. 197-222 ◽  
Author(s):  
Arnau Garriga-Casanovas ◽  
Ferdinando Rodriguez y Baena
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Closed Form ◽  
Invasive Surgery ◽  
Closed Form Solution ◽  
Form Solution ◽  
Illustrative Case ◽  
Full Potential ◽  
Constant Stiffness ◽  
Concentric Tube Robots

Concentric tube robots offer the capability of follow-the-leader motion, which is desirable when navigating in cluttered environments, such as in minimally invasive surgery or in-situ inspections. The follow-the-leader capabilities identified in the existing literature, however, are limited to trajectories with piecewise constant-curvature segments or piecewise helical segments. A complete study of follow-the-leader kinematics is, therefore, relevant to determine the full potential of these robots, and clarify an open question. In this paper, a general analysis of follow-the-leader motion is presented, and a closed-form solution to the complete set of trajectories where follow-the-leader is possible under the assumption of no axial torsion of the tubes composing the robot is derived. For designs with constant-stiffness tubes, the precurvatures required are found to be either circumference arcs, helices, or deformed helices with exponentially varying curvature magnitude. The analysis developed also elucidates additional motions of interest, such as the combination of follow-the-leader motion in a robot segment with general maneuvers in another part. To determine the applicability of the assumption regarding the tubes’ torsion, the general equilibrium of the robot designs of interest is considered, and a closed-form solution to torsion in two-tube robots with helical precurvatures is derived. Criteria to select a desired torsional behavior are then extracted. This enables one to identify stable trajectories where follow-the-leader is possible, for potential application to minimally invasive surgery. An illustrative case study involving simulation and experiment is conceived using one of these trajectories, and the results are reported, showcasing the research.

Wet adhesion for a miniature mobile intra-abdominal device based on biomimetic principles

2010 ◽  
Vol 224 (7) ◽  
pp. 1473-1485 ◽  
Author(s):  
G W Taylor ◽  
A Neville ◽  
D G Jayne ◽  
R Roshan ◽  
T Liskiewicz ◽  
...  
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Contact Area ◽  
Adhesion Force ◽  
Polymer Surface ◽  
Adhesive Force ◽  
Polymer Surfaces ◽  
Pillar Structure ◽  
Nominal Contact Area

An assessment of adhesion between the peritoneum and various micro/ nanopatterned polymer surfaces is presented as a key step in the design of a miniature intra-abdominal device for use in minimally invasive surgery practices. Of particular interest is the gathering of necessary information concerning understanding and quantifying the forces required to enable such a device to adhere to, move over, or detach and reattach to surface tissue without any damage to the latter. A micro-tribometer apparatus is used for this purpose, and results show that the adhesion force generated between the polymer and peritoneum does not scale linearly with nominal contact area. It is found that a non-optimized polymer surface patterned with a homogeneous micro-pillar structure, having an area of 113 mm2, when in contact with the peritoneum, is able to generate an adhesive force of 70 mN; six to eight such pads would in principle be capable of supporting a device/payload weighing 40–50 g. A discussion is provided of the mechanism(s) by which the adhesion is achieved and how the findings may impact on the eventual design and subsequent manufacture of a working intracorporeal device.

Modeling and Design of a Piezoelectric Forceps Actuator for Meso∕Micro Grasping

2006 ◽  
Vol 1 (1) ◽  
pp. 30-37 ◽  
Author(s):  
Ken Susanto ◽  
Bingen Yang
Keyword(s):  
Genetic Algorithm ◽  
Mathematical Model ◽  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Significant Role ◽  
Invasive Surgery ◽  
Biological Tissues ◽  
Soft Objects ◽  
Grasping Force ◽  
Relationship Of

Meso∕micro grasping of tiny soft objects such as biological tissues, which ranges from hundreds to thousands of micro-millimeters in dimension, plays a significant role in the fields of tele-surgery, minimally invasive surgery (MIS), and biomedical instrumentation. Recently, the authors proposed a novel piezoelectric forceps actuator (PFA), which is capable of grasping delicate soft objects. One of the advantages of the PFA over conventional MIS forceps lies in that it can be remotely controlled to achieve precision deflection and grasping force. Furthermore, it does not have any moving parts such as gears and hinges, and hence avoids problems in operation like friction, backlash, lubrication, leakage, and sterilization. In this paper, a mathematical model of the PFA is derived, based on which genetic algorithm (GA) is applied to optimize the grasping force-deflection relationship of the actuator. The model developed is experimentally verified on a prototype of the PFA.

An Ultrasonic Micro Scalpel Based on Exponential Horn Silicon Chip

2014 ◽  
Vol 496-500 ◽  
pp. 1464-1467 ◽  
Author(s):  
Ting Ting Wang ◽  
Jian Yan Wang ◽  
Wei Qun Zhang ◽  
Hang Guo
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Biological Tissues ◽  
Fundamental Theory ◽  
Ultrasonic Scalpel ◽  
Mems Technology ◽  
Silicon Based

This paper proposes a silicon-based ultrasonic scalpel for minimally invasive surgery. Starting from the fundamental theory, the micro ultrasonic scalpel based on exponential silicon horn chip is analyzed and designed in detail. Then a micro scalpel has been fabricated by using MEMS technology and tested. Results show that the micro ultrasonic scalpel presented in the paper has a good performance in vibration and fit for cutting biological tissues at the micro/nanoscale.

V1695: Minimizing Minimally Invasive Surgery: the Three Port Robotic Pyeloplasty

2004 ◽  
Vol 171 (4S) ◽  
pp. 448-448
Author(s):  
Farjaad M. Siddiq ◽  
Patrick Villicana ◽  
Raymond J. Leveillee
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Robotic Pyeloplasty
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