Search for: surgery
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    Automatic tracking of laparoscopic instruments for autonomous control of a cameraman robot

    , Article Minimally Invasive Therapy and Allied Technologies ; Volume 25, Issue 3 , 2016 , Pages 121-128 ; 13645706 (ISSN) Amini Khoiy, K ; Mirbagheri, A ; Farahmand, F ; Sharif University of Technology
    Taylor and Francis Ltd  2016
    Background An automated instrument tracking procedure was designed and developed for autonomous control of a cameraman robot during laparoscopic surgery. Material and methods The procedure was based on an innovative marker-free segmentation algorithm for detecting the tip of the surgical instruments in laparoscopic images. A compound measure of Saturation and Value components of HSV color space was incorporated that was enhanced further using the Hue component and some essential characteristics of the instrument segment, e.g., crossing the image boundaries. The procedure was then integrated into the controlling system of the RoboLens cameraman robot, within a triple-thread parallel... 

    Experimental study of the ventilation arrangement’s effect on particle concentration in a surgery room

    , Article 7th International Conference on Fluid Flow, Heat and Mass Transfer, FFHMT 2020, 15 November 2020 through 17 November 2020 ; 2020 , Pages 151-1-151-4 Parcheforosh, A ; Mousemi, A ; Alotaibi, S. A ; Khademi, A ; Sharif University of Technology
    Avestia Publishing  2020
    Hospital ventilation is defined as the providing of fresh and clean air stream in hospital wards or patients’ room to provide and establish a healthy environment for personnel’s and patient’s breath, reducing concentration of produced contaminations in hospital and removing them from clean spaces. Thus, it can prevent spread of airborne infections among patients, people who works around and more importantly, outside the hospital. Hospital infections have a huge influence on mortality of the patients in which respiratory tract infections and surgical wound infections plays a major role. Depending on the quality and the mass flow rate of the exploited air, cleanness of a surgery room can be... 

    A modular force-controlled robotic instrument for minimally invasive surgery – efficacy for being used in autonomous grasping against a variable pull force

    , Article International Journal of Medical Robotics and Computer Assisted Surgery ; Volume 12, Issue 4 , 2016 , Pages 620-633 ; 14785951 (ISSN) Khadem, S. M ; Behzadipour, S ; Mirbagheri, A ; Farahmand, F ; Sharif University of Technology
    John Wiley and Sons Ltd 
    Background: Many deficiencies of minimally invasive robotic surgery systems can be eliminated by using automated laparoscopic tools with force measurement and control capability. Method: A fully modular, automated laparoscopic instrument with a proximal force sensory system was designed and fabricated. The efficacy of the instrument was evaluated experimentally when functioning in an autonomous force-controlled grasping scheme. Results: The designed instrument was shown to work easily with standard laparoscopic tools, with the whole distal part detachable for autoclave sterilization. The root mean squared error (RMSE) of the actual pinch force from the target ramp was 0.318 N; it was 0.402 N... 

    Analytical modeling of a Minimally Invasive Surgery grasper actuated by shape memory alloy wires

    , Article International Conference on Robotics and Mechatronics, ICRoM 2013 ; Feb , 2013 , Pages 147-151 ; 9781467358118 (ISBN) Shahriari, M ; Zabihollah, A ; Sharif University of Technology
    Minimally Invasive Surgery (MIS) is getting common these days. MIS robots using special tools can perform surgery precisely as humans. This is only possible with dexterous end-effectors and a well-controlled system. Local, lightweight and powerful actuators positioned at end-effectors provide the ability to decrease the degrees of freedom and simplify the design. This paper discusses a grasper design actuated by Shape Memory Alloy (SMA) wires that can be used in MIS robotics. The properties of a commercially available shape memory alloy are explored and analytical formulations for the actuation procedure are developed. The grasper actuated by SMA wires is studied and the procedure of... 

    Medical robotics: State-of-the-art applications and research challenges

    , Article International Journal of Healthcare Information Systems and Informatics ; Volume 8, Issue 2 , 2013 , Pages 1-14 ; 15553396 (ISSN) Mirbagheri, A ; Baniasad, M. A ; Farahmand, F ; Behzadipour, S ; Ahmadian, A ; Sharif University of Technology
    Many research and development projects are being performed worldwide to develop new products and applications for computer-assisted and medical robotic systems. In this paper, an overview of selected state-of-the-art applications of robotic technology in medicine is presented. Four key areas of image-guided surgery, virtual reality in medicine, surgical robots, and robotic rehabilitation systems, are studied. As well, current challenges in research and development are discussed. Copyright  

    Design of a 4 DOF laparoscopic surgery robot for manipulation of large organs

    , Article Studies in Health Technology and Informatics ; Volume 173 , 2012 , Pages 8-12 ; 09269630 (ISSN) ; 9781614990215 (ISBN) Alamdar, A ; Mirbagheri, A ; Farahmand, F ; Durali, M ; Sharif University of Technology
    In this paper, a 4-DOF robotic arm for tool handling in laparoscopic surgery is introduced. The robot provides sufficient force to handle endoscopic tools used for large organ manipulation and is capable of measuring the tool-tissue forces. The RCM constraint is achieved using a spherical mechanism and roll and insertion motions are provided using time pulley and spindle-drive, respectively. The forward and inverse kinematics of the robot was solved and the dimensions of its links were determined, using particle swarm optimization method, so that the maximum kinematic and dynamic performance could be achieved  

    Continuous and pulsed experiments with numerical simulation to dissect pituitary gland tumour by using liquid jet

    , Article Engineering Letters ; Volume 25, Issue 3 , 2017 , Pages 348-353 ; 1816093X (ISSN) Alamoud, A. H ; Baillot, E ; Belabbas, C ; Samimi Ardestani, H. S ; Bahai, H ; Baldit, A ; Chizari, M ; Sharif University of Technology
    International Association of Engineers  2017
    Endoscopic endonasal surgery is a minimal invasive surgery that has been used to dissect pituitary gland tumour via curettes with the help of endoscope. However, this type of surgery has a high risk of failure because curettes may cause damages to blood vessels and optical nerves that lead to more complication for the patient. The aim of this study is to develop a new technique to dissect the tumour by using liquid jet. A series of experimental tests have been performed on animal tissue to study the effect of liquid pressure and nozzle diameter on dissecting and cutting the tissue. Continuous/pulsed liquid jet used with variable nozzle diameters, distances, pressures and angles. The study... 

    A novel laparoscopic grasper with two parallel jaws capable of extracting the mechanical behaviour of soft tissues

    , Article Journal of Medical Engineering and Technology ; Volume 41, Issue 5 , 2017 , Pages 339-345 ; 03091902 (ISSN) Nazarynasab, D ; Farahmand, F ; Mirbagheri, A ; Afshari, E ; Sharif University of Technology
    Taylor and Francis Ltd  2017
    Data related to force-deformation behaviour of soft tissue plays an important role in medical/surgical applications such as realistically modelling mechanical behaviour of soft tissue as well as minimally invasive surgery (MIS) and medical diagnosis. While the mechanical behaviour of soft tissue is very complex due to its different constitutive components, some issues increase its complexity like behavioural changes between the live and dead tissues. Indeed, an adequate quantitative description of mechanical behaviour of soft tissues requires high quality in vivo experimental data to be obtained and analysed. This paper describes a novel laparoscopic grasper with two parallel jaws capable of... 

    A hybrid algorithm for prediction of varying heart rate motion in computer-assisted beating heart surgery

    , Article Journal of Medical Systems ; Volume 42, Issue 10 , 2018 ; 01485598 (ISSN) Mansouri, S ; Farahmand, F ; Vossoughi, G ; Alizadeh Ghavidel, A ; Sharif University of Technology
    Springer New York LLC  2018
    An essential requirement for performing robotic assisted surgery on a freely beating heart is a prediction algorithm which can estimate the future trajectory of the heart in the varying heart rate (HR) conditions of real surgery with a high accuracy. In this study, a hybrid amplitude modulation- (AM) and autoregressive- (AR) based algorithm was developed to enable estimating the global and local oscillations of the beating heart, raised from its major and minor physiological activities. The AM model was equipped with an estimator of the heartbeat frequency to compensate for the HR variations. The RMS of the prediction errors of the hybrid algorithm was in the range of 165–361 μm for the... 

    Design of SMA micro-gripper for minimally invasive surgery

    , Article 2012 19th Iranian Conference of Biomedical Engineering, ICBME 2012 ; 2012 , Pages 97-100 ; 9781467331302 (ISBN) Adldoost, H ; Jouibary, B. R ; Zabihollah, A ; Sharif University of Technology
    Application of robotic instruments in minimally invasive surgery (MIS) has been developing in recent years. The urge to implement biocompatible and less invasive devices found way in use of materials like shape memory alloys. However such designs presented the idea of using heat control actuation in the MIS surgery and some have found noticeable position in robotic surgery. Yet the problems relating to insufficient stroke, slow motion and unfavorable generated heat have to be defeated. In this work it is focused to overcome these problems by a new design. Modern SMA grippers take advantage of two techniques: Net SMA and Spiral SMA. Both of these actuators demand application of high electric... 

    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) Tirehdast, M ; Mirbagheri, A ; Farahmand, F ; Asghari, M ; Sharif University of Technology
    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... 

    Robotic assisted reduction of femoral shaft fractures using stewart platform

    , Article Studies in Health Technology and Informatics, 19 January 2009 through 22 January 2009 ; Volume 142 , 2009 , Pages 177-179 ; 09269630 (ISSN) ; 9781586039646 (ISBN) Majidifakhr, K ; Kazemirad, S ; Farahmand, F ; Sharif University of Technology
    A robotic system with 6 DOF mobility was proposed for reduction of femoral shaft fractures based on Stewart platform. A plan for implementing the platform on bone fragments was introduced and a step by step strategy for performing the reduction procedure, based on the system's inverse kinematic solution, was proposed. The efficacy of the system was evaluated in some case studies and it was shown that it can be locked to act as an external fixator  

    Phenomenological contact model characterization and haptic simulation of an endoscopic sinus and skull base surgery virtual system

    , Article 4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016, 26 October 2016 through 28 October 2016 ; 2017 , Pages 84-89 ; 9781509032228 (ISBN) Sadeghnejad, S ; Esfandiari, M ; Farahmand, F ; Vossoughi, G ; Sharif University of Technology
    During the endoscopic sinus and skull base training surgeries, the haptic perception of tool-tissue interaction and even transitions and ruptures in the tissues are fundamental which should be taken into account in a robotic control scheme. However, this problem is extremely complex given the nature and the variety of tissues involved in an ESS procedures. In this article, ex-vivo indentation and relaxation experiments associated with an offline model estimation of the interaction between tissues and a surgical tool are presented. The estimated parameters of the modified Kelvin-Voigt model are then used to provide a realistic tool-tissue interaction dynamic model. Finally, the principle of a... 

    Review on different experimental techniques developed for recording force-deformation behaviour of soft tissues; with a view to surgery simulation applications

    , Article Journal of Medical Engineering and Technology ; Volume 41, Issue 4 , 2017 , Pages 257-274 ; 03091902 (ISSN) Afshari, E ; Rostami, M ; Farahmand, F ; Sharif University of Technology
    Different experimental techniques which have been developed to obtain data related to force-deformation behaviour of soft tissues play an important role in realistically simulating surgery processes as well as medical diagnoses and minimally invasive procedures. Indeed, an adequate quantitative description of soft-tissue-mechanical-behaviour requires high-quality experimental data to be obtained and analysed. In this review article we will first scan the motivations and basic technical issues on surgery simulation. Then, we will concentrate on different experimental techniques developed for recording force-deformation (stress-strain) behaviour of soft tissues with focussing on the in-vivo... 

    Design and Implementation of a Master Robot for Orthopedic Surgery Based on Falcon

    , M.Sc. Thesis Sharif University of Technology Shadbakhsh, Farshad (Author) ; Farahmand, Farzam (Supervisor) ; Zabihollah, Abolghasem (Supervisor)
    Long bone reduction is one the conventional but hard and time consuming process in orthopedic surgery. This difficulty becomes harder when it comes to lower limbs which are under large tensile forces by strong muscles surrounding. With considerable progress in technology development robotic surgery in recent years, using robotic systems for simplification, accuracy improvement and quality of long bone fracture surgery is considered. In this study a six degrees of freedom parallel mechanism is considered for femoral reduction. The purpose of this project is designing a master robot for moving the mentioned mechanism with considering hardware limitation of this mechanism. This limitations... 

    Bilateral Control of a Telesurgical Workstation with Haptic Feedback of an open Surgery

    , M.Sc. Thesis Sharif University of Technology Torabi, Payman (Author) ; Vossoughi, Gholam Reza (Supervisor) ; Ahmadian, Mohammad Taghi (Supervisor)
    The introduction of Minimally Invasive Surgery (MIS) has deeply influenced modern surgery. Despite all the advantages for the patient, this method produces some limitations for the surgeon. Limitations such as reducing degrees of freedom resulting in the loss of dexterity, depriving surgeons of the depth perception and sense of touch lead to human errors due to fatigue and intense mental activity. Overcoming these limitations is the reason for robots entering the operating rooms. In this research a robot-assisted surgery system including two 5-DOF robots is utilized. The goal of this research is to model and simulate this system and also to design a bilateral controller to provide haptic... 

    Bilateral Control of a Laparoscopic Tele-Surgical Workstation with Haptic Feedback

    , M.Sc. Thesis Sharif University of Technology Alambeigi, Farshid (Author) ; Vossoughi, Gholamreza (Supervisor) ; Farahmand, Farzam (Supervisor)
    Laparoscopic surgery which is categorized under Minimal Invasive Surgery, has many advantages over conventional open surgery. Despite the beneficial effect of this method on patients, surgeons suffer difficulties in utilizing the method. Robotic surgery has been constituted as the answer to remove the difficulties yet retain the advantages.
    In the so-called robotic surgery, the tool is handed to a robotic arm, i.e., the slave robot, which is installed and positioned at the bed side. The surgeon sits before a comfortable console and uses a joystick-like robot, i.e., the master robot, to manipulate the slave robot. The vision is also provided by a robotic camera holder and shown in a... 

    Implementation of a Wristed Haptic Master for “Sina” Surgery Robot and Assessment of its Effectiveness in Performing a Surgery Task

    , M.Sc. Thesis Sharif University of Technology Aghasizade Shaarbaf, Mahdie (Author) ; Farahmand, Farzam (Supervisor)
    The Sina robotic surgery setup has been designed and fabricated to simplify the laparoscopic surgery. The second generation of this robot has been designed in order of master and slave by focusing on using surgical wristed laparoscopic tools and utilizing haptic master. The master consists of two distinct mechanism of seven degrees of freedom. The first three degrees are considered for positioning, three of them for direction and one of them is considered for catching the tissue. The first six degrees of freedom (those for movement of haptic) are considered in this research.
    To do this, first of all, the cinematic and dynamic relations of the leader mechanism have been derived. Next, the... 

    Design, Fabrication, and Experimental Study of a Flexible Cardiac Stabilizer for Beating Heart Robotic Surgery

    , M.Sc. Thesis Sharif University of Technology Houshmand, Arvin (Author) ; Farahmand, Farzam (Supervisor)
    A popular way for performing minimally invasive heart surgery is to use cardiac stabilizers that fix the heart during surgery. In the recent years several research works have been conducted to develop effective cardiac stabilizers. While these developments have attempted to improve fixation of the heart, there are reports indicating that a rigid cardiac stabilization may induce injury to heart muscle tissues due to restricting the heart motion in all directions. A more efficient approach than rigid cardiac stabilization might be to use a flexible cardiac stabilizer in combination with a surgical robot having motion compensation capability. The scope of this research is designing a device to... 

    Bilateral Control of a Master-Slave Robotic System for Large-Organ Grasping with Haptic Feedback

    , M.Sc. Thesis Sharif University of Technology Nematollahi, Mohammad Reza (Author) ; Farahmand, Farzam (Supervisor) ; Behzadipour, Saeed (Co-Advisor)
    The age of minimally invasive surgery has brought forth astounding changes in the health care field. Less pain and quicker patient recovery have been demonstrated with several types of operations that were once performed by an open technique. With these changes have come reports of complications. The decreased sense of touch is just one of several limitations inherent to current techniques of minimally invasive surgery that limit detection of subtle or unapparent lesions on palpation, such as common duct stones and liver lesions. The purpose of this study is to design and implement a bilateral control on a master-slave robotic system for grasping large ogans and demonstrate the ability of a...