A Modular, Automated Laparoscopic Grasper with Three-Dimensional Force Measurement Capability

2007 ◽  
Author(s):  
Gregory Tholey ◽  
Jaydev P. Desai
Keyword(s):  
Force Measurement ◽  
Three Dimensional ◽  
Measurement Capability ◽  
Laparoscopic Grasper

A Compact and Modular Laparoscopic Grasper With Tridirectional Force Measurement Capability

2008 ◽  
Vol 2 (3) ◽  
Author(s):  
Gregory Tholey ◽  
Jaydev P. Desai
Keyword(s):  
Tissue Characterization ◽  
Force Feedback ◽  
Haptic Feedback ◽  
Modular Design ◽  
Force Measurement ◽  
Robot Assisted ◽  
Measurement Capability ◽  
Laparoscopic Grasper ◽  
Grasping Force ◽  
Conventional Open Surgery

The introduction of minimally invasive surgery (MIS) into the operating room has led to significant advantages over conventional open surgery. Furthermore, the migration toward robot-assisted MIS over the past decade has provided additional advantages. However, the lack of haptic feedback in these tele-operated robotic surgical systems has inhibited the surgeon’s ability to diagnose tissue as healthy or unhealthy, thereby creating a need for force feedback in these systems. This paper presents the design and development of a compact and modular laparoscopic grasper with tridirectional force measurement capability for applications in robot-assisted MIS. The instrumented laparoscopic grasper is capable of measuring the normal grasping force, as well as the manipulation forces (horizontal and vertical) during grasping tasks. The grasper also has a modular design that allows for easy conversion between different surgical modalities, such as grasping, cutting, and dissecting. Preliminary tele-operative experiments with force feedback capability through a haptic feedback device for artificial tissue characterization as well as knot tightening experiments indicate the capability of this grasper.

Finite Element Modeling for Steel Cord Analysis in Radial Tires

2013 ◽  
Vol 41 (1) ◽  
pp. 60-79 ◽  
Author(s):  
Wei Yintao ◽  
Luo Yiwen ◽  
Miao Yiming ◽  
Chai Delong ◽  
Feng Xijin
Keyword(s):  
Finite Element ◽  
High Efficiency ◽  
Force Measurement ◽  
Three Dimensional ◽  
Local Stress ◽  
Tension Force ◽  
Center Line ◽  
Element Analysis ◽  
Design Variables ◽  
Steel Cord

ABSTRACT: This article focuses on steel cord deformation and force investigation within heavy-duty radial tires. Typical bending deformation and tension force distributions of steel reinforcement within a truck bus radial (TBR) tire have been obtained, and they provide useful input for the local scale modeling of the steel cord. The three-dimensional carpet plots of the cord force distribution within a TBR tire are presented. The carcass-bending curvature is derived from the deformation of the carcass center line. A high-efficiency modeling approach for layered multistrand cord structures has been developed that uses cord design variables such as lay angle, lay length, and radius of the strand center line as input. Several types of steel cord have been modeled using the developed method as an example. The pure tension for two cords and the combined tension bending under various loading conditions relevant to tire deformation have been simulated by a finite element analysis (FEA). Good agreement has been found between experimental and FEA-determined tension force-displacement curves, and the characteristic structural and plastic deformation phases have been revealed by the FE simulation. Furthermore, some interesting local stress and deformation patterns under combined tension and bending are found that have not been previously reported. In addition, an experimental cord force measurement approach is included in this article.

Three-dimensional Force Perception of Robotic Bipolar Forceps for Brain Tumor Resection

2021 ◽  
Author(s):  
Xiu-Heng Zhang ◽  
Heng Zhang ◽  
Zhen Li ◽  
Gui-Bin Bian
Keyword(s):  
Brain Tumor ◽  
Real Time ◽  
Force Measurement ◽  
Measurement Techniques ◽  
Tumor Resection ◽  
Three Dimensional ◽  
Contact Forces ◽  
Surgical Instruments ◽  
Force Perception ◽  
Brain Tumor Resection

Abstract Three-dimensional force perception is critically important in the enhancement of human force perception to minimize brain injuries resulting from excessive forces applied by surgical instruments in robot-assisted brain tumor resection. And surgeons are not responsive enough to interpret tool-tissue interaction forces. In previous studies, various force measurement techniques have been published. In neurosurgical scenarios, there are still some drawbacks to these presented approaches to forces perception. Because of the narrow, and slim configuration of bipolar forceps, three-dimensional contact forces on forceps tips is not easy to be traced in real-time. Five fundamental acts of handling bipolar forceps are poking, opposing, pressing, opening, and closing. The first three acts independently correspond to the axial force of z, x, y. So, in this paper, typical interactions between bipolar forceps and brain tissues have been analyzed. A three-dimensional force perception technique to collect force data on bipolar forceps tips by installing three Fiber Bragg Grating Sensors (FBGs) on each prong of bipolar forceps in real-time is proposed. Experiments using a tele-neurosurgical robot were performed on an in-vitro pig brain. In the experiments, three-dimensional forces were tracked in real-time. It is possible to experience forces at a minimum of 0.01 N. The three-dimensional force perception range is 0-4 N. The calibrating resolution on x, y, and z, is 0.01, 0.03, 0.1 N, separately. According to our observation, the measurement accuracy precision is over 95%.

scholarly journals Three-Dimensional Force Measurement and Control of a Flux-Path Control Magnetic Suspension

2008 ◽  
Vol 2 (6) ◽  
pp. 1239-1249 ◽  
Author(s):  
Munehiro FURUTACHI ◽  
Shunsuke INABA ◽  
Yuji ISHINO ◽  
Masaya TAKASAKI ◽  
Takeshi MIZUNO
Keyword(s):  
Force Measurement ◽  
Three Dimensional ◽  
Magnetic Suspension ◽  
Path Control ◽  
Flux Path ◽  
And Control ◽  
Measurement And Control
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