Loading...

Modeling and Evaluation of a Large Laparoscopic Grasper With Flexible Fingers

Foadmarashi, Payam | 2010

645 Viewed
  1. Type of Document: M.Sc. Thesis
  2. Language: English
  3. Document No: 40746 (58)
  4. University: Sharif University of Technology, International Campus, Kish Island
  5. Department: Science and Engineering
  6. Advisor(s): Farahmand , Farzam; Kazemzadeh Hannani, Siamak
  7. Abstract:
  8. Laparoscopy is a minimally invasive surgical (MIS) procedure specific to the surgical sites within the abdomen. For this surgical method a laparoscope, a camera (endoscope), and a grasping instrument is needed. They all inserted in to the abdomen through openings (5 - 10 mm diameter side port). Currently used grasper heads are small and often with steel material. With respect to these two properties applying large forces that cause damage in the organs is inevitable. The aim of this project is to design a new large laparoscopic grasper head that applies pressure along the length of the lever arms and can take up tissues of large sizes. Based on surveys and estimations SMA, artificial muscles and some piezoelectric materials were chosen to study and finally a new long travel piezoceramic was selected. With respect to all constrains and initial conditions, modeling and simulation of the system is done with a finite element software –ANSYS. By installing piezoceramic on the surface of the jaw, some modeling and analysis were done to find the effect of using piezoceramic on the force that was applied to the tissue from the gripper. Another simulation is done to find the relationship between the push force (transmitted from the gripper to the organ) and the use of piezoceramic on the surface of the jaw. Finally, two conceptual designs were done for a grasper. They meet the considerations of using smart materials as an actuator and have the properties that were obtained from the modeling and simulation part. At the end, it should be said that by these considerations, manipulating and maneuvering abilities of the surgeon will increase and MIS surgeries will become faster, more efficient with less dangers and injuries
  9. Keywords:
  10. Smart Materials ; Artificial Muscles ; ANSYS Software ; Shape Memory Alloy ; Minimaly Invasive Surgery (MIS)

 Digital Object List

  • محتواي پايان نامه
  •   view

 Bookmark

No TOC