Wet-Chemical Patterned PZT Force Sensors for Minimally Invasive Surgical Tools

2005 ◽  
Vol 1 (2) ◽  
pp. 185-189 ◽  
Author(s):  
S. Ezhilvalavan ◽  
Victor D. Samper
Keyword(s):  
Minimally Invasive ◽  
Force Sensors ◽  
Surgical Tools ◽  
Minimally Invasive Surgical ◽  
Wet Chemical

scholarly journals Microfabrication of PZT force sensors for minimally invasive surgical tools

2006 ◽  
Vol 34 ◽  
pp. 979-984 ◽  
Author(s):  
S Ezhilvalavan ◽  
Zaoli Zhang ◽  
Jeremy Loh ◽  
Jackie Y Ying
Keyword(s):  
Minimally Invasive ◽  
Force Sensors ◽  
Surgical Tools ◽  
Minimally Invasive Surgical

scholarly journals Polymer fiber Bragg grating force sensors for minimally invasive surgical devices

2015 ◽  
Author(s):  
Ginu Rajan ◽  
Sunish Mathews ◽  
Dean Callaghan ◽  
Gerald Farrell ◽  
Gang-Ding Peng
Keyword(s):  
Minimally Invasive ◽  
Fiber Bragg Grating ◽  
Bragg Grating ◽  
Force Sensors ◽  
Polymer Fiber ◽  
Minimally Invasive Surgical ◽  
Surgical Devices

Microrobotic laser steering for minimally invasive surgery

2021 ◽  
Vol 6 (50) ◽  
pp. eabd5476
Author(s):  
Peter A. York ◽  
Rut Peña ◽  
Daniel Kent ◽  
Robert J. Wood
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
High Speed ◽  
Large Range ◽  
State Of The Art ◽  
Fabrication Method ◽  
Modular Assembly ◽  
Surgical Tools ◽  
Minimally Invasive Surgical ◽  
Current State

The creation of multiarticulated mechanisms for use with minimally invasive surgical tools is difficult because of fabrication, assembly, and actuation challenges on the millimeter scale of these devices. Nevertheless, such mechanisms are desirable for granting surgeons greater precision and dexterity to manipulate and visualize tissue at the surgical site. Here, we describe the construction of a complex optoelectromechanical device that can be integrated with existing surgical tools to control the position of a fiber-delivered laser. By using modular assembly and a laminate fabrication method, we are able to create a smaller and higher-bandwidth device than the current state of the art while achieving a range of motion similar to existing tools. The device we present is 6 millimeters in diameter and 16 millimeters in length and is capable of focusing and steering a fiber-delivered laser beam at high speed (1.2-kilohertz bandwidth) over a large range (over ±10 degrees in both of two axes) with excellent static repeatability (200 micrometers).

Optimization of a piezoelectric bimorph grasper for use in minimally invasive surgical applications

2005 ◽  
Vol 219 (9) ◽  
pp. 673-683 ◽  
Author(s):  
M Grujicic ◽  
C L Zhao ◽  
E M Austin
Keyword(s):  
Minimally Invasive ◽  
Constant Thickness ◽  
Functional Requirements ◽  
Piezoelectric Bimorph ◽  
Algorithm Optimization ◽  
Element Analysis ◽  
Surgical Tools ◽  
Minimally Invasive Surgical ◽  
Poling Direction ◽  
Grasping Force

The potential use of piezoelectric bimorph actuators in minimally invasive surgery suture-needle grasper/holder applications is explored computationally. Upon defining the design/functional requirements for such surgical tools, a finite element analysis of the underlying piezoelectric boundary value problem is combined with the genetic algorithm optimization routine to arrive at an optimal morphology of the suture-needle grasper/holder. The results obtained show that, if the actuator is based on several constant-thickness segments, a proper combination of thicknesses of such segments can substantially improve the performance of such surgical tools. Specifically, a good combination of the relatively large grasper-jaws opening and the required level of the holding force when the grasper is closed on a 0.5 mm diameter suture-needle is obtained. The effect of orientation of the poling direction in the piezoelectric layers on the performance of the bimorph actuator is also examined. It is found that, at the same level of the required grasping force, a change in the poling direction by about 2.3° from the through-the-thickness direction can increase the maximum grasper-jaws opening by about 10 per cent.

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