Loading...
Search for:
abdominal-cavity
0.005 seconds
Design of a force-reflective master robot for haptic telesurgery applications: RoboMaster1
, Article Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS ; 2011 , Pages 7037-7040 ; 1557170X (ISSN) ; 9781424441211 (ISBN) ; Mirbagheri, A ; Salarieh, H ; Farahmand, F ; Sharif University of Technology
Abstract
With the increasing trend toward Minimally Invasive Surgery (MIS) procedures, the need to develop new robotic systems to facilitate such surgeries is more and more recognized. This paper describes the design and development of a 4 DOF force-reflective master robot (RoboMaster1) for haptic telesurgery applications. A two-double parallelogram robot is introduced including a novel mechanism at the base for producing and control of the end effector's linear motion. This eliminates the deficiencies caused due to suspending massive actuators at the end effector or cabling from the base. The kinematics and work space of the system were analyzed and a prototype was developed for primary practical...
Finite element modeling of spleen tissue to analyze its interaction with a laparoscopic surgery instrument
, Article ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, ESDA2010, 12 July 2010 through 14 July 2010, Istanbul ; Volume 4 , 2010 , Pages 103-107 ; 9780791849187 (ISBN) ; Mirbagheri, A ; Farahmand, F ; Asghari, M ; Sharif University of Technology
2010
Abstract
Laparoscopic surgery is a Minimally Invasive Surgery (MIS) procedure which is performed in the abdominal cavity. In this paper, the spleen tissue and a laparoscopic surgical grasper were modeled using ABAQUS software to investigate the tool-tissue interaction, considering large deformations for the spleen tissue. The spleen tissue was modeled as a hyper-elastic material. The laparoscopic grasper includes three gripping jaws that always remain parallel. The sliding can occur between the gripping jaws and the spleen tissue. It was found that the relationship between the pinch forces and push forces keeps its linearity in different values of friction coefficient (0-0.3). The pushing force...
The effects of intra-abdominal pressure on the stability and unloading of the spine
, Article Journal of Mechanics in Medicine and Biology ; Volume 12, Issue 1 , 2012 ; 02195194 (ISSN) ; Farahmand, F ; Shirazi Adl, A ; Arjmand, N ; Malekipour, F ; Parnianpour, M ; Sharif University of Technology
Abstract
In spite of earlier experimental and modeling studies, the relative role of the intra-abdominal pressure (IAP) in spine mechanics has remained controversial. This study employs simple analytical and finite element (FE) models of the spine and its surrounding structures to investigate the contribution of IAP to spinal loading and stability. The analytical model includes the abdominal cavity surrounded by muscles, lumbar spine, rib cage and pelvic ring. The intra-abdominal cavity and its surrounding muscles are represented by a thin deformable cylindrical membrane. Muscle activation levels are simulated by changing the Young's modulus of the membrane in the direction of muscle fibers, yielding...