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Full-Text Articles in Biomedical Engineering and Bioengineering
Development Of A Hybrid Stereotactic Guidance System For Percutaneous Liver Tumour Ablation, Joeana N. Cambranis Romero
Development Of A Hybrid Stereotactic Guidance System For Percutaneous Liver Tumour Ablation, Joeana N. Cambranis Romero
Electronic Thesis and Dissertation Repository
Stereotactic Image-Guided Surgical Navigation System (IGSNS) supports percutaneous procedures by using medical imaging and tracking information, to assist the surgeons in the preprocedural planning and intraprocedural steps. This thesis describes the development of a stereotactic IGSNS for percutaneous liver tumour ablation, the goal of which is to assist in positioning the tip of the ablation applicator accurately to ensure complete tumour coverage. The main system improvement is the employment of a mini stereotactic patient-attach aiming device that is used as a pointer to ensure needle tip position prior to needle insertion. The thesis chapters describe the development and validation of …
Optical Fibre-Based Force Sensing Needle Driver For Minimally Invasive Surgery, Pouya Soltani Zarrin
Optical Fibre-Based Force Sensing Needle Driver For Minimally Invasive Surgery, Pouya Soltani Zarrin
Electronic Thesis and Dissertation Repository
Minimally invasive surgery has been limited from its inception by insufficient haptic feedback to surgeons. The loss of haptic information threatens patients safety and results in longer operation times. To address this problem, various force sensing systems have been developed to provide information about tool–tissue interaction forces. However, the provided results for axial and grasping forces have been inaccurate in most of these studies due to considerable amount of error and uncertainty in their force acquisition method. Furthermore, sterilizability of the sensorized instruments plays a pivotal role in accurate measurement of forces inside a patient's body. Therefore, the objective of …
Design Of Novel Sensors And Instruments For Minimally Invasive Lung Tumour Localization Via Palpation, Anish Srinivasan Naidu
Design Of Novel Sensors And Instruments For Minimally Invasive Lung Tumour Localization Via Palpation, Anish Srinivasan Naidu
Electronic Thesis and Dissertation Repository
Minimally Invasive Thoracoscopic Surgery (MITS) has become the treatment of choice for lung cancer. However, MITS prevents the surgeons from using manual palpation, thereby often making it challenging to reliably locate the tumours for resection. This thesis presents the design, analysis and validation of novel tactile sensors, a novel miniature force sensor, a robotic instrument, and a wireless hand-held instrument to address this limitation. The low-cost, disposable tactile sensors have been shown to easily detect a 5 mm tumour located 10 mm deep in soft tissue. The force sensor can measure six degrees of freedom forces and torques with temperature …
A Sensorized Instrument For Minimally Invasive Surgery For The Measurement Of Forces During Training And Surgery: Development And Applications, Ana Luisa Trejos
A Sensorized Instrument For Minimally Invasive Surgery For The Measurement Of Forces During Training And Surgery: Development And Applications, Ana Luisa Trejos
Electronic Thesis and Dissertation Repository
The reduced access conditions present in Minimally Invasive Surgery (MIS) affect the feel of interaction forces between the instruments and the tissue being treated. This loss of haptic information compromises the safety of the procedure and must be overcome through training. Haptics in MIS is the subject of extensive research, focused on establishing force feedback mechanisms and developing appropriate sensors. This latter task is complicated by the need to place the sensors as close as possible to the instrument tip, as the measurement of forces outside of the patient's body does not represent the true tool--tissue interaction. Many force sensors …