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Full-Text Articles in Engineering
Force Sensing Surgical Grasper With Folding Capacitive Sensor, Dave Bp Tripp
Force Sensing Surgical Grasper With Folding Capacitive Sensor, Dave Bp Tripp
Electronic Thesis and Dissertation Repository
Minimally-invasive surgery (MIS) has brought many benefits to the operating room, however, MIS procedures result in an absence of force feedback, and surgeons cannot as accurately feel the tissue they are working on, or the forces that they are applying. One of the barriers to introducing MIS instruments with force feedback systems is the high cost of manufacturing and assembly. Instruments must also be sterilized before every use, a process that can destroy embedded sensing systems. An instrument that can be disposed of after a single use and produced in bulk at a low cost is desirable. Printed circuit micro-electro-mechanical …
A Framework For Tumor Localization In Robot-Assisted Minimally Invasive Surgery, Nikita Chopra
A Framework For Tumor Localization In Robot-Assisted Minimally Invasive Surgery, Nikita Chopra
Electronic Thesis and Dissertation Repository
Manual palpation of tissue is frequently used in open surgery, e.g., for localization of tumors and buried vessels and for tissue characterization. The overall objective of this work is to explore how tissue palpation can be performed in Robot-Assisted Minimally Invasive Surgery (RAMIS) using laparoscopic instruments conventionally used in RAMIS. This thesis presents a framework where a surgical tool is moved teleoperatively in a manner analogous to the repetitive pressing motion of a finger during manual palpation. We interpret the changes in parameters due to this motion such as the applied force and the resulting indentation depth to accurately determine …
Force Sensing In Arthroscopic Instruments Using Fiber Bragg Gratings, Daniel S. Yurkewich
Force Sensing In Arthroscopic Instruments Using Fiber Bragg Gratings, Daniel S. Yurkewich
Electronic Thesis and Dissertation Repository
Minimally-invasive surgery has revolutionized many medical procedures; however, it also impedes the ability to feel the interaction between the surgical tool and the anatomical part being operated on. In order to address this problem, it is necessary to obtain accurate measurements of the interaction forces exerted on the surgical tools during surgery. These forces can then be manifested to the surgeon via a haptic device or presented visually (visual-force feedback). This thesis describes the use of a fiber optic device to measure and display to the surgeon interaction forces acting on an arthroscopic tool. The sensorization of the tool involves …