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surgical-procedures--minimally-invasive
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A triple-jaw actuated and sensorized instrument for grasping large organs during minimally invasive robotic surgery
, Article International Journal of Medical Robotics and Computer Assisted Surgery ; Volume 9, Issue 1 , 2013 , Pages 83-93 ; 14785951 (ISSN) ; Farahmand, F ; Sharif University of Technology
2013
Abstract
Background: Secure grasping and effective manipulation of delicate large organs during robotic surgery operations needs especially designed instruments that can enclose a large amount of tissue and feed back the pinch forces. Methods: A large organ triple-jaw grasper was instrumented using practical force sensory and actuating systems. A force tracking scheme was proposed to facilitate auto-grasping of large organs during robotic teleoperation surgery. An on-site force commanding/reflecting mechanism was also implemented to use the device as an independent hand-held robotic instrument. The efficacy of the robotic grasper was examined in phantom tests. Results: The instrument grasped large...
A computer model for evaluating the osteotomy parameters of Chiari pelvic osteotomy
, Article International Orthopaedics ; Volume 34, Issue 3 , 2010 , Pages 329-333 ; 03412695 (ISSN) ; Gouran Savadkoohi, D ; Ghadirpoor, A ; Rahimpoor, S ; Azghani, M ; Farahmand, F ; Sharif University of Technology
2010
Abstract
This study was conducted to evaluate the effect of the various osteotomy parameters on the biomechanical aspects of the hip joint on a computerised model. The data of the radiographs and a three-dimensional (3D) CT scan of six patients with coverage deficient hip joint were used to construct a 3D computer model. Then Chiari type osteotomies were simulated using various heights, angles and fibrocartilage thicknesses. A new angle called the mid acetabular center edge (MACE) angle was defined in a mid coronal CT cut. The optimum displacement for obtaining the maximum coverage averaged 73%. The angle and height of the osteotomy had a significant effect on the MACE angle (P value∈<∈0. 01). Our...