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Biomedical Engineering and Bioengineering Commons™
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Full-Text Articles in Biomedical Engineering and Bioengineering
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
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
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 …
Performance Characteristics Of A Therapeutic Ultrasound Wire Waveguide, Graham Gavin, Garrett Mcguinness, Finbar Dolan, M.S. Hashmi
Performance Characteristics Of A Therapeutic Ultrasound Wire Waveguide, Graham Gavin, Garrett Mcguinness, Finbar Dolan, M.S. Hashmi
Articles
Therapeutic ultrasound angioplasty has been investigated, clinically, by a number of researchers and represents a potentially promising therapy for the treatment of atherosclerotic lesions. To date, there has been no detailed analysis of the effect of mechanical design parameters, such as wire geometry or damping characteristics, on wire waveguide performance. An apparatus capable of delivering therapeutic ultrasound down small diameter nickel–titanium (NiTi) wire waveguides is described. The output peak-to-peak (p–p) displacements at the distal tip of a 1.0mm diameter waveguide were measured experimentally, by means of an optical microscope and image analysis software. The output was measured for a range …