Biomedical Engineering and Bioengineering Commons^™

Rod Bend Approximator For Minimally Invasive Spinal Surgery, Amanda Hansell, Anise Ghandchi, Shervin Moghimi

Biomedical Engineering

This Final Report will go over the project deliverables and future steps in the making of a rod bending approximator tool by the Cal Poly Senior Design team for the client SeaSpine. The latest designs and research done regarding minimally invasive surgery (MIS) is covered including the impediments with the current methods. SeaSpine presented the need to our team for an approximating tool within the MIS procedure. Our team began project planning through task generation and schedule development. Once the product definition was fully understood, competition was evaluated and engineering specifications were created for the project. A conceptual design was …

Cochlear Implant Training Model, Devin Baughn, Sidney Mingle, Aaron Bowman

Williams Honors College, Honors Research Projects

Currently available training methods for cochlear implant surgeries such as cadavers and imaging systems are expensive and available for a limited number of training sessions. With the goal of decreasing risk factors associated with cochlear implant surgery, our team developed a cochlear implant training model prototype that is designed to provide a trial-and-error, tactile training method for developing force perception levels required to avoid causing damage to the cochlea. This model is designed to utilize a disposable material that ruptures when exposed to critical force levels. A material testing device was developed and utilized to test an assortment of easily …

Final Design Report For The Bioburden Pre-Cleaning Device And Dr. Mark Rasnake At The University Of Tennessee Medical Center, Katherine Elizabeth Stiles, Megan Pitz, Kayla Franklin, Simran Dayal, Austin Bullock

Chancellor’s Honors Program Projects

No abstract provided.

Design And Development Of A Multifunctional Surgical Device For Ground And Space-Based Surgical Applications., Brooke Elaine Barrow

Electronic Theses and Dissertations

With the possibility of longer ventures into space, NASA will face many new medical challenges. The ability to surgically treat trauma and other disorders in reduced gravity requires reliable wound access, containment, and visualization. In collaboration with Carnegie Mellon University, the University of Louisville is currently developing the AISS (Aqueous Immersion Surgical System) to increase efficiency and control of the operative field in space-based surgeries. Reliable wound access and containment is achieved by placing a transparent wound-isolation dome securely over the wound-site and pressurizing it with a saline solution. Leak-free trocars provide access ports for various surgical instruments. This system …

Modeling, Analysis, Force Sensing And Control Of Continuum Robots For Minimally Invasive Surgery, Caroline Bryson Black

Doctoral Dissertations

This dissertation describes design, modeling and application of continuum robotics for surgical applications, specifically parallel continuum robots (PCRs) and concentric tube manipulators (CTMs). The introduction of robotics into surgical applications has allowed for a greater degree of precision, less invasive access to more remote surgical sites, and user-intuitive interfaces with enhanced vision systems. The most recent developments have been in the space of continuum robots, whose exible structure create an inherent safety factor when in contact with fragile tissues. The design challenges that exist involve balancing size and strength of the manipulators, controlling the manipulators over long transmission pathways, and …

A Novel Minimally Invasive Tumour Localization Device, Doran Avivi

Electronic Thesis and Dissertation Repository

Lung cancer is one of the leading causes of death, by cancer. The usual treatment is surgical resection of tumours. However, patients who are weak or have poor pulmonary function are deemed unfit for surgery. For these patients, a minimally-invasive approach is desired. A major problem associated with minimally-invasive approaches is tumour localization in real time and accurate measurement of tool--tissue forces.

This thesis describes the design, analysis, manufacturing and validation of a minimally-invasive instrument for tumour localization, named Palpatron. The instrument has an end effector that is able to support two previously designed jaws, one containing an ultrasound sensor …

Analysis Of Strain Transfer To Fbg’S For Sensorized Telerobotic End-Effector Applications, Dean Callaghan, Mark Mcgrath, Ginu Rajan, Eugene Coyle, Yuliya Semenova, Gerald Farrell

Books/Book chapters

Sensorized instruments which cater for the measurement of interaction forces during surgical procedures are not available on current commercial Minimally Invasive Robotic Surgical (MIRS) systems. This paper investigates the ef-fectiveness of advanced optical sensing technology (Fiber Bragg Grating) as sur-gical end effector strain/force sensors. The effects of adhesive bonding layer thickness and length are specifically addressed owing to their importance for ef-fective strain transfer and ensuring compactness of the resulting sensing arrange-ment. The strain transfer characteristics of the compound sensing arrangement are evaluated by the examination of shear transfer through the fiber coating and adhe-sive layers. Detailed analysis of the …

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

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 …