scholarly journals Experimental Analysis of Surgical Tool Force Requirements

2016 ◽  
Author(s):  
Devin R. Berg
Keyword(s):  
Experimental Analysis ◽  
Porcine Model ◽  
Testing Machine ◽  
Good Basis ◽  
Surgical Tools ◽  
Abdominal Organs ◽  
Surgical Tool ◽  
Tool Force ◽  
Puncture Force ◽  
Tension Testing

Through the use of a cadaveric porcine model, forces necessary for manipulation of the abdominal organs were evaluated using an instrumented probe. Additionally, forces for tissue puncture, knot tightening, and suture breakage have been measured in order to determine the requirements placed upon the design of novel robotic surgical tools. The break forces for a variety of suture sizes and types were evaluated including sizes 3-0 through 7-0 polypropylene, size 1 polybutestor, size 4-0 chromic gut, and size 6-0 braided polyester. Tests of the tissue puncture force and knot tightening forces were carried out using the same instrumented probe, while the suture break forces were measured using a tension testing machine. The measured forces were found to compare well against the literature and provide a good basis from which to design robotic surgical tools with the appropriate capabilities.

scholarly journals Determination of surgical robot tool force requirements through tissue manipulation and suture force measurement

2018 ◽  
Author(s):  
Devin R. Berg ◽  
Timothy P. Kinney ◽  
Perry Y. Li ◽  
Arthur G. Erdman
Keyword(s):  
Porcine Model ◽  
Force Measurement ◽  
Testing Machine ◽  
Surgical Tools ◽  
Abdominal Organs ◽  
Tool Force ◽  
Tissue Manipulation ◽  
Puncture Force ◽  
Tension Testing

Through the use of a cadaveric porcine model, forces necessary for manipulation of the abdominal organs were evaluated using an instrumented probe. Additionally, forces for tissue puncture, knot tightening, and suture breakage have been measured in order to determine the requirements placed upon the design of novel robotic surgical tools. The break forces for a variety of suture sizes and types were evaluated including sizes 3-0 through 7-0 polypropylene, size 1 polybutestor, size 4-0 chromic gut, and size 6-0 braided polyester. Tests of the tissue puncture force and knot tightening forces were carried out using the same instrumented probe, while the suture break forces were measured using a tension testing machine. The measured forces were found to compare well against the literature and provide a good basis from which to design robotic surgical tools with the appropriate capabilities.

Study on the friction characteristics of 304 steel with composite surface modification

2017 ◽  
Vol 69 (2) ◽  
pp. 248-258 ◽  
Author(s):  
Wengang Chen ◽  
Xueyuan Liu ◽  
Lili Zheng
Keyword(s):  
Surface Modification ◽  
Friction And Wear ◽  
Steel Surface ◽  
Testing Machine ◽  
Wear Testing ◽  
Tribological Characteristics ◽  
Textured Surface ◽  
Content Type ◽  
Good Basis ◽  
Modified Surface

Purpose This paper aims to clarify the friction properties of 304 steel surface modification. The surface modification includes laser texturing processing and nitriding treatment on 304 steel surface, and then the friction properties’ test was conducted on different friction directions and different upper test samples by using microfriction and wear testing machine. Design/methodology/approach The diameter and spacing of 100-, 150-, 200-, 300-μm pit array on the surface of 304 steel were calculated using a M-DPSS-50 semiconductor laser device. Then, the textured surface was nitriding-treated using a nitriding salt bath device. The chemical composition, surface morphology and surface microhardness of the composite-modified surface were measured by X-ray diffraction and by using an optical microscope and a microhardness tester. The tribological characteristics of the composite-modified surface were tested by MRTR microcomputer-controlled multifunctional friction and wear testing machine. Findings The result showed that a rule pit texture surface was obtained by the texture processing. The microhardness of nitriding treatment surface reached 574.27HV0.1, which significantly higher than 222.58HV0.1 of 304 steel. The composite-modified surface has excellent anti-friction and wear resistance properties when the upper specimen was GCr15 steel and ZrO2, respectively. The composite-modified surface has excellent anti-friction and anti-wear properties after long time friction under different angles. However, the friction coefficient and wear morphology of the friction pairs are not affected by the friction angle. Research limitations/implications Because of the chosen research approach, the research results may lack generalizability. Therefore, researchers are encouraged to test the proposed propositions further. Practical implications The paper conducted a systematic study of the tribological characteristics of 304 steel composite modification surface and provided a good basis for the extensive application of 304 steel. Social implications The study provides a good basis for the extensive application of 304 steel. Originality/value This paper fulfils an identified need to study the extensive application of 304 steel.

Novel Approach for Tension Testing Micro Tubes

2018 ◽  
Author(s):  
Scott W. Wagner ◽  
William J. Emblom ◽  
Kevin M. Johnson ◽  
Kahaan P. Shah ◽  
Navrose Handa ◽  
...  
Keyword(s):  
Mechanical Properties ◽  
Stainless Steel ◽  
Predictive Models ◽  
Testing Machine ◽  
Tube Hydroforming ◽  
Novel Approach ◽  
New Process ◽  
Tension Testing ◽  
Materials Used ◽  
Book Values

Due to the miniaturization of products, new or modified processes are required to create small components. With the development of these new processes, it is also important to establish methods to evaluate the mechanical properties of the materials used in these components. These properties are necessary for accurately creating representative predictive models and simulations. At the same time, this evaluation can be challenging as sampling specimens become smaller the securing and handling of these smaller specimens becomes very difficult. Recently, researchers made studies to develop and model the micro tube hydroforming (MTHF) process. In many of these studies, the mechanical properties used were either traditional book values or were values obtained directly from the manufacturers. The question then becomes, how do the manufacturers determine their provided mechanical properties? The research in this study focuses on the development and testing of a new process to determine the mechanical properties of stainless steel micro tubes. Specifically, a set of clamps for securing a micro tube in a standard tension-testing machine were developed. A method for localizing the stress within the middle of a specimen was developed and the findings are presented in this paper.

Tool-Tissue Force Estimation for a 3-DOF Robotic Surgical Tool

2015 ◽  
Author(s):  
Baoliang Zhao ◽  
Carl A. Nelson
Keyword(s):  
Haptic Feedback ◽  
Estimation Method ◽  
Tissue Reaction ◽  
Limiting Factor ◽  
Haptic Interfaces ◽  
Force Estimation ◽  
Surgical Tools ◽  
Motor Current ◽  
Surgical Tool ◽  
Reaction Forces

Robotic minimally invasive surgery has achieved success in various procedures; however, the lack of haptic feedback is considered by some to be a limiting factor. The typical method to acquire tool-tissue reaction forces is attaching force sensors on surgical tools, but this complicates sterilization and makes the tool bulky. This paper explores the feasibility of using motor current to estimate tool-tissue forces, and demonstrates acceptable results in terms of time delay and accuracy. This sensorless force estimation method sheds new light on the possibility of equipping existing robotic surgical systems with haptic interfaces that require no sensors and are compatible with existing sterilization methods.

scholarly journals Observer based dynamic control model for bilaterally controlled MU-lapa robot: Surgical tool force limiting

2020 ◽  
Vol 10 (1) ◽  
pp. 828
Author(s):  
Branesh M. Pillai ◽  
Chumpon Wilasrusmee ◽  
Jackrit Suthakorn
Keyword(s):  
Dynamic Control ◽  
Excessive Force ◽  
Bilateral Control ◽  
Robot System ◽  
Operational Capabilities ◽  
Surgical Tool ◽  
Tool Force ◽  
Distant Location ◽  
Control Criteria ◽  
Virtual Spring Damper

During laparoscopic surgeries, primary surgical tool insertion is the demanding and strenuous task. As the surgeon is unaware of the type of the tissue and associated parameters to conduct the insertion, therefore, to ease the procedure, the movement of the surgical tool needs to be controlled. It’s the operational capabilities that are to be manipulated to perform a smooth surgery even from a distant location. In this study, a robot system is being introduced for laparoscopic primary surgical tool insertion. It will incorporate a novel observer based dynamic control along with robot assisted bilateral control. Moreover, a virtual spring damper force lock system is introduced through which the slave system will notify the master regarding the target achieved and excessive force. The validation of the proposed control system is experimented with bilaterally controlled MU-LapaRobot. The experiment is comprising 3 cases of bilateral control criteria which are non-contact motion, contact motion, and limit force locking. The results defined the same value for contact and non-contact motion by 0.3N. The results depicted a force error of 3.6% and a position error of 5.8% which validated the proposed algorithm.

scholarly journals ASSESSMENT OF BILIOSTATIC PROPERTIES OF MODERN TOPIC HEMOSTATIC MEANS USED IN HEPATIC SURGERY

2018 ◽  
Vol 35 (1) ◽  
pp. 102-107
Author(s):  
A V Timoshenkova ◽  
M V Kuzmin ◽  
E S Katanov
Keyword(s):  
Adhesive Strength ◽  
Testing Machine ◽  
Medical Purpose ◽  
Hepatic Surgery ◽  
Adhesive Properties ◽  
Resected Liver ◽  
Tension Testing ◽  
Polyurethane Composition ◽  
High Adhesive Strength

Aim. To assess the biliostatic properties of modern topic hemostatic means and the developed glue composition for medical purpose, used in hepatic surgery in experiment. Materials and methods. The studies, aimed at assessment of the properties of local hemostatic means, were carried out on Wistar rats weighing 178 ± 10 g. The device for determination of leak proofness of hepatic stump with hydropression technique was used. Comparative estimation of elasticity and adhesive strength of hemostatic means, using tension testing machine “REM-10”, was fulfilled. Original polyurethane glue for medical purposes was developed and studied. Results. The glue compositions “Bioglue”, hemostatic sponge “Tachocomb” and original polyurethane composition for medical purposes with adhesive strength > 600 Pa (mm H2O) ( p < 0.05) possess the best adhesive properties. It was established on the basis of experimental data that the glue composition “Bioglue” and polyurethane glue composition have a high adhesive strength, elasticity and resistance to hydropression. Conclusions. 1. Glue compositions possess higher adhesion and endure higher level of pressure as compared with sponges and plates. Original polyurethane composition has maximum adhesive strength, elasticity and hydropression resistance. 2. After application of original polyurethane glue composition on resected liver (in experiment), it is completely lysed in 30-35 days.

Analytical Investigation of Varying Deformation Paths Using Microtube Inflation and Axial Tension

2020 ◽  
Author(s):  
Elizabeth M. Mamros ◽  
Brad L. Kinsey ◽  
Yannis P. Korkolis
Keyword(s):  
Biaxial Loading ◽  
Testing Machine ◽  
Analytical Investigation ◽  
Final Part ◽  
Stainless Steel 316L ◽  
Forming Process ◽  
Deformation Path ◽  
Axial Tension ◽  
Tension Testing ◽  
Strain Paths

Abstract Manufacturers invested in a diverse array of industries, ranging from automotive to biomedical, are seeking methods to improve material processing in an effort to decrease costs and increase efficiency. Many parts produced by these suppliers require forming operations during their fabrication. Forming processes are innately complex and involve a multitude of parameters affecting the final part in several ways. Examples of these parameters include temperature, strain rate, deformation path, and friction. These parameters influence the final part geometry, strength, surface finish, etc. Previous studies have shown that varying the deformation path during forming can lead to increased formability. However, a fundamental understanding of how to control these paths to optimize the process has yet to be determined. Adding to the complexity, as the forming process is scaled down for micromanufacturing, additional parameters, such as grain size and microstructure transformations, must be considered. In this paper, an analytical model is proposed to calculate strain-paths with one or two loading segments and their associated stress-paths. The model is created for investigations of stainless steel 316L using a microtube inflation/tension testing machine. This machine allows for the implementation of two-segment strain-paths through biaxial loading consisting of applied force and internal pressure. The model can be adjusted, based on the desired forming process or available equipment, to output the appropriate parameters for implementation, such as force, displacement, and pressure.

scholarly journals Self-Tensioning Feature of Knotless Suture Anchor Provides Reproducible Knotless Fixation Independent of Initial Tension

2021 ◽  
Vol 9 (3) ◽  
pp. 232596712199159
Author(s):  
Aravind Athiviraham ◽  
Cody S. Lee ◽  
Patrick A. Smith ◽  
Marina Piepenbrink ◽  
Alexander P. Mackin ◽  
...  
Keyword(s):  
Acl Reconstruction ◽  
Porcine Model ◽  
Suture Anchor ◽  
Cruciate Ligament ◽  
Testing Machine ◽  
Time Data ◽  
Postoperative Rehabilitation ◽  
Initial Tension ◽  
Knotless Suture Anchor ◽  
Suture Tape

Background: Anterior cruciate ligament (ACL) reconstruction with suture tape reinforcement has been shown to biomechanically reduce elongation and increase ultimate strength. However, the amount and consistency of the achieved tension after primary fixation using knotless suture anchors remains unclear. Purpose: To determine whether initial tensioning of suture tape before fixation with a knotless suture anchor significantly affects final tension of the suture tape. Study Design: Controlled laboratory study. Methods: We secured 15 pairs of Sawbones blocks with predrilled tunnels to a tensile testing machine. Suture tape was inserted through a suspensory fixation button on the representative femoral block and threaded top-down through the base of the tibial block over an attachable button system. The suture tape was attached with a knotless suture anchor in a predrilled and tapped hole on the tibial block under the following pretensioning conditions: (1) slight tension of 5 N, (2) no tension, and (3) initial slack. The suture anchor was inserted as the load-time data were recorded. After initial block testing, a porcine model of 24 tibias was used to test the same pretensioning conditions. The initial loads during anchor insertion and screw-in were measured, as well as final tension. Results: During block testing, no difference in final tensioning was found when comparing the slight-tension, no-tension, and slack groups (42.3 ± 5.3, 37.7 ± 6.4, and 40.2 ± 7.0 N, respectively; P = .528). Similar to block testing, no difference in final tensioning was found when comparing the slight-tension, no-tension, and slack groups using the porcine model (43.64 ± 6.69, 48.09 ± 13.93, and 44.52 ± 6.84 N, respectively; P = .633). Conclusion: The final tension of the suture tape construct appears to be reproducible and consistent, independent of the initial tension introduced with suture anchor placement within the tested parameters. Clinical Relevance: The results of the current study can help optimize the placement technique of independent suture tape reinforcement for ACL reconstruction, which is a promising strategy to help prevent ACL rerupture, particularly in the early phases of postoperative rehabilitation.

Experimental Investigation on Magnetorheological Damper’s Characterization

2015 ◽  
Vol 1115 ◽  
pp. 476-479 ◽  
Author(s):  
Mohammad Meftahul Ferdaus ◽  
Muhammad Mahbubur Rashid ◽  
Mst. Nafisa Tamanna Shanta ◽  
Muhammad Hasibul Hasan
Keyword(s):  
Experimental Analysis ◽  
Testing Machine ◽  
Mr Damper ◽  
Stroke Rate ◽  
Brief Experimental Analysis ◽  
Stroke Length ◽  
Active Devices ◽  
Mr Fluids ◽  
Wide Range ◽  
Day By Day

Magnetorheological (MR) damper is one of the most advanced application of semi active devices. Its use is increasing day by day due to its huge advantages and wide range of application. The force delivered by MR damper can be varied by changing the viscosity of its internal MR fluids. Till now no details experimental analysis has been accomplished by considering various parameters. In this paper a brief experimental analysis has been investigated with the help of Universal Testing Machine to characterize MR damper. To characterize accurately MR damper has been analyzed experimentally for different stroke length, stroke rate, stroke mode. From the experimental results it is seen that the force delivered by MR damper has a proportional relation with input excitation current, stroke length and stroke rate.

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