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Force Measurement Methods In Telerobotic Surgery: Implications For End-Effector Manufacture, Dean Callaghan, Mark Mcgrath, Eugene Coyle
Force Measurement Methods In Telerobotic Surgery: Implications For End-Effector Manufacture, Dean Callaghan, Mark Mcgrath, Eugene Coyle
Articles
Haptic feedback in telesurgical applications refers to the relaying of position and force information from a remote surgical site to the surgeon in real-time during a surgical procedure. This feedback, coupled with visual information via microscopic cameras, has the potential to provide the surgeon with additional ‘feel’ for the manipulations being performed at the instrument-biological tissue interface. This increased sensitivity has many associated benefits which include, but are not limited to; minimal tissue damage, reduced recuperation periods, and less patient trauma. The inclusion of haptic feedback leads to reduction in surgeon fatigue which contributes to enhanced performance during operation. Commercially …
A Force Measurement Evaluation Tool For Telerobotic Cutting Applications: Development Of An Effective Characterization Platform, Dean Callaghan, Mark Mcgrath, Eugene Coyle
A Force Measurement Evaluation Tool For Telerobotic Cutting Applications: Development Of An Effective Characterization Platform, Dean Callaghan, Mark Mcgrath, Eugene Coyle
Articles
Sensorized instruments that accurately measure the interaction forces (between biological tissue and instrument endeffector) during surgical procedures offer surgeons a greater sense of immersion during minimally invasive robotic surgery. Although there is ongoing research into force measurement involving surgical graspers little corresponding effort has been carried out on the measurement of forces between scissor blades and tissue. This paper presents the design and development of a force measurement test apparatus, which will serve as a sensor characterization and evaluation platform. The primary aim of the experiments is to ascertain whether the system can differentiate between tissue samples with differing mechanical …
High-Power Low-Frequency Ultrasound: A Review Of Tissue Dissection And Ablation In Medicine And Surgery, Brendan O'Daly, Edmund Morris, Graham Gavin, John O'Byrne, Garrett Mcguinness
High-Power Low-Frequency Ultrasound: A Review Of Tissue Dissection And Ablation In Medicine And Surgery, Brendan O'Daly, Edmund Morris, Graham Gavin, John O'Byrne, Garrett Mcguinness
Articles
High-power low-frequency ultrasound in the range 20–60 kHz has wide ranging clinical applications in surgical and medical instruments for biological tissue cutting, ablation or fragmentation, and removal. Despite widespread clinical application and common device operating characteristics, there is an incomplete understanding of the mechanism of tissue failure, removal and damage. The relative contribution of cavitation, direct mechanical impact and thermal effects to each process for specific tissue types remains unclear. Different and distinct mechanisms and rates of tissue removal are observed for interaction with soft and hard tissue types. Device operating parameters known to affect the interaction include frequency, peak–peak …