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The Modeling of Graspers Force-Behavior in Minimally Invasive Surgery

Hortamani, Ramin | 2009

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  1. Type of Document: M.Sc. Thesis
  2. Language: English
  3. Document No: 39297 (58)
  4. University: Sharif University of Technology, International Campus, Kish Island
  5. Department: Science and Engineering
  6. Advisor(s): Zabihollah, Abolghasem
  7. Abstract:
  8. Minimally Invasive Surgery (MIS) is a modern surgical technique in which the operation is performed through small incisions in the body. Therefore, the surgeon looses his/her sense of touch which is of high importance in any medical operation. In the present work, a novel smart grasper is presented in which the surgeon can virtually acquire a feeling of force/momentum experienced by the organ/tissue. The smart grasper uses piezoelectric sensors bonded at desired locations to detect the applied force/momentum applied by surgeon and to measure the transmitted force/momentum to the tissue/organ. First, an accurate electro-mechanical model of the smart grasper is developed and the relations between the applied force by surgeon and the experienced ones by the grasped object have been investigated. The finite element model of the grasper and organ/tissue is developed to investigate the stress/strain response of the organ/tissue due to transmitted force. The finite element model can accurately simulate the grasping and handling of tissue/organ during the operation. Further, the model has been used to investigate the effects of different force/momentum at various positions and for different artificial materials. The results of the present work would provide valuable guidelines in design and implementation of smart graspers in MIS. The use of these novel smart graspers would highly improve and facilitate the MIS by providing a complete feeling of touch and force/momentum to the surgeon and make a real-time alert which in turns, prevent possible damage to the tissue/organ due to excessive force applied by the surgeon. In addition, the smart graspers can potentially be used as an educational tool to simulate the surgery operation, especially in tele-robotic surgery
  9. Keywords:
  10. Finite Element Method ; Piezoelectric ; Sensors ; Smart Grasper

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