Modeling and Design of a Piezoelectric Forceps Actuator for Meso∕Micro Grasping

2006 ◽  
Vol 1 (1) ◽  
pp. 30-37 ◽  
Author(s):  
Ken Susanto ◽  
Bingen Yang
Keyword(s):  
Genetic Algorithm ◽  
Mathematical Model ◽  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Significant Role ◽  
Invasive Surgery ◽  
Biological Tissues ◽  
Soft Objects ◽  
Grasping Force ◽  
Relationship Of

Meso∕micro grasping of tiny soft objects such as biological tissues, which ranges from hundreds to thousands of micro-millimeters in dimension, plays a significant role in the fields of tele-surgery, minimally invasive surgery (MIS), and biomedical instrumentation. Recently, the authors proposed a novel piezoelectric forceps actuator (PFA), which is capable of grasping delicate soft objects. One of the advantages of the PFA over conventional MIS forceps lies in that it can be remotely controlled to achieve precision deflection and grasping force. Furthermore, it does not have any moving parts such as gears and hinges, and hence avoids problems in operation like friction, backlash, lubrication, leakage, and sterilization. In this paper, a mathematical model of the PFA is derived, based on which genetic algorithm (GA) is applied to optimize the grasping force-deflection relationship of the actuator. The model developed is experimentally verified on a prototype of the PFA.

scholarly journals Force Feedback Plays a Significant Role in Minimally Invasive Surgery

2005 ◽  
Vol 241 (1) ◽  
pp. 102-109 ◽  
Author(s):  
Gregory Tholey ◽  
Jaydev P. Desai ◽  
Andres E. Castellanos
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Significant Role ◽  
Invasive Surgery ◽  
Force Feedback

An Ultrasonic Micro Knife Based on Triangular Silicon Horn Chip

2015 ◽  
Vol 645-646 ◽  
pp. 1363-1367
Author(s):  
Ting Ting Wang ◽  
Jing Wu ◽  
Ke Man Ying ◽  
Wen Gang Li ◽  
Hang Guo
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Biological Tissues ◽  
Test Results ◽  
Fundamental Theory ◽  
Ultrasonic Scalpel ◽  
Mems Technology ◽  
Silicon Based

This paper presents a silicon-based ultrasonic scalpel for minimally invasive surgery. Starting from the fundamental theory, the micro ultrasonic scalpel using triangular silicon horn chip is designed and fabricated in detail. It is found that the magnification of the composed horn keeps 5.8 when size changes. A micro scalpel has been fabricated by MEMS technology. The test results show that a good performance in vibration and fit for puncturing biological tissues at the micro/nanoscale are obtained in the micro ultrasonic scalpel.

Grasping Contact Analysis of Viscoelastic Materials With Applications in Minimally Invasive Surgery

2006 ◽  
Author(s):  
Ali Bonakdar ◽  
Javad Dargahi ◽  
Rama Bhat
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Closed Form ◽  
Contact Force ◽  
Invasive Surgery ◽  
Contact Area ◽  
Biological Tissues ◽  
Closed Form Expression ◽  
Viscoelastic Materials ◽  
Form Analysis

This paper presents a method to determine the contact force and pressure on the surface of viscoelastic objects grasped by an endoscopic grasper, used in Minimally Invasive Surgery (MIS). Normally, an endoscopic grasper is corrugated (teeth-like) in order to grasp slippery tissues. It is highly important to avoid damage to the tissues during grasping and manipulation in endoscopic surgery. Therefore, it is essential to determine the exact contact force on the surface of the tissue. To this end, initially a comprehensive closed form analysis of grasping contact force and pressure on elastic and particularly viscoelastic materials which have similar behavior as that of biological tissues is studied. The behavior of a rigid grasper with wedge-like teeth, when pressed into a delayed elasticity material is being examined. Initially, a single wedge penetrating into a solid is studied and then is extended to the grasper. The elastic wedge indentation is the basis of this study and the effects of time are included in the equations by considering the corresponding integral operator from viscoelastic stress-stain relations. Under the action of a constant normal load, the penetration of the indenter and the contact area will change. In this research, the variation of the contact area with time and the grasping contact force is studied. The results of this study which provides a closed form expression for grasping contact force and contact area are compared with those from elastic analysis.

scholarly journals Relationship of Postoperative Pain and PONV after Minimally Invasive Surgery with the Serotonin Concentrations and Receptors’ Gene Polymorphisms

2021 ◽  
Vol 11 (9) ◽  
pp. 833
Author(s):  
Natalia Ignaszak-Kaus ◽  
Antoni J. Duleba ◽  
Aleksandra Mrozikiewicz ◽  
Grażyna Kurzawińska ◽  
Agata Różycka ◽  
...  
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Minimal Invasive ◽  
Steady Increase ◽  
Infertile Women ◽  
Postoperative Symptoms ◽  
Post Operative Nausea ◽  
Postoperative Complaints ◽  
Relationship Of

(1) Background: there is a steady increase in the number of procedures performed via minimally invasive surgery, which have many benefits, but post-operative nausea and vomiting (PONV) and significant pain are still a common problem (2) Methods: 300 infertile women (18–40 years old) undergoing minimal invasive surgery. Interventions: laparoscopy and hysteroscopy performing, evaluation of postoperative symptoms, serotonin concentrations assessment, identify genetic polymorphisms. (3) Results: serotonin concentrations were significantly lower among women who required opioids (p = 0.006). The presence of the GG genotype in the rs6318 polymorphism of the 5HTR2C gene had a protective effect on PONV (OR = 0.503; C.I. = [0.300–0.841]; p = 0.008), when the GG variant of the rs11214763 polymorphism of the 5HTR3B gene, when the risk of PONV was 1.65-fold higher (OR = 1.652; C.I. = [1.003–2.723]; p = 0.048). Pain intensity was significantly higher among women with GG genotype of the rs6296 polymorphism of the 5HTR1B gene (OR = 1.660; C.I. = [1.052–2.622]; p = 0.029).; (4) Conclusions: the evaluation of serotonin concentration predicts requirement for opioid pain relief medication. The polymorphisms of the serotonin receptors affect the intensity of postoperative complaints.

Design of a Multifunctional Compliant Instrument for Minimally Invasive Surgery

2005 ◽  
Vol 127 (6) ◽  
pp. 990-993 ◽  
Author(s):  
Mary I. Frecker ◽  
Katherine M. Powell ◽  
Randy Haluck
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Compliant Mechanism ◽  
Tissue Injury ◽  
Optimized Design ◽  
Jaw Opening ◽  
Multifunctional Device ◽  
Grasping Force ◽  
Length Width

A new multifunctional compliant instrument has been designed for use in minimally invasive surgery. The instrument combines scissors and forceps into a single multifunctional device. The main advantage of using multifunctional instruments for minimally invasive surgery is that instrument exchanges can be reduced, thus reducing procedure time and risk of inadvertent tissue injury during instrument exchanges. In this paper, the length, width, and thickness of the multifunctional compliant mechanism tool tip is optimized to maximize the jaw opening and the grasping force. The optimized design is then modeled to simulate the stresses encountered in the scissors mode. A 5.0mm diameter stainless steel prototype is fabricated using electro-discharge machining and is shown to grasp and cut successfully.

An Ultrasonic Micro Scalpel Based on Exponential Horn Silicon Chip

2014 ◽  
Vol 496-500 ◽  
pp. 1464-1467 ◽  
Author(s):  
Ting Ting Wang ◽  
Jian Yan Wang ◽  
Wei Qun Zhang ◽  
Hang Guo
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Biological Tissues ◽  
Fundamental Theory ◽  
Ultrasonic Scalpel ◽  
Mems Technology ◽  
Silicon Based

This paper proposes a silicon-based ultrasonic scalpel for minimally invasive surgery. Starting from the fundamental theory, the micro ultrasonic scalpel based on exponential silicon horn chip is analyzed and designed in detail. Then a micro scalpel has been fabricated by using MEMS technology and tested. Results show that the micro ultrasonic scalpel presented in the paper has a good performance in vibration and fit for cutting biological tissues at the micro/nanoscale.

V1695: Minimizing Minimally Invasive Surgery: the Three Port Robotic Pyeloplasty

2004 ◽  
Vol 171 (4S) ◽  
pp. 448-448
Author(s):  
Farjaad M. Siddiq ◽  
Patrick Villicana ◽  
Raymond J. Leveillee
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Robotic Pyeloplasty
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