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Design and Prototype of a Diagnostic Laparoscopic Instrument Capable of Measuring Characteristics of Living Tissues During Surgery

nazarinasab, Dariush | 2013

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 45364 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Farahmand, Farzam
  7. Abstract:
  8. in laparoscopic surgeries, act zone tissues are not directly palpable for the surgeon. Therefore, evaluating the mechanical behavior of the tissue and distinguishing healthiness or illness of that, are not achievable for the surgeon. In this treatise, the matter of discerning the soft and bulky tissues mechanical properties by a robotic arm during the laparoscopic surgery, is regarded. In first step, a tool like a two finger miniature hand was designed in which either of fingers have utilized a parallelogram mechanism for opening and closing. The dimensional design of the mechanism was undertake in away that the tool has the ability of going through a 10mm diameter path and grabbling and squeezing large organs up to 40mm diameter. Maintaining the touch point of the tool and the tissue for enhancing the accuracy of the read force between the tool and the tissue, was an extremely important point which was regarded during the tool designing. Hence, in tool designing, two sliders and a cam were used in order to prevent the horizontal movement of the tool clamps. Reading the force clamps of the tool are designed with ability of attaching sensors to them also a special path is considered for wires of sensors. After designing dimensional optimization was done to optimize the proportion of operator force to compressive force, it caused to 25% decrease in operator force. Afterwards parts manufacturing plans prepared. In the second step , a prototype of the tool was built. Manufactured part was categorized in two groups, claw and tool lever. In manufacturing required parts for the claw, sustainable material AISI 304 is used but since the tool lever must be as light as possible to do not exhaust the surgeon hand, aluminum is used. Moreover both of the clamps were mobilized to two strain gauge which were placed in a half whetstone bridge related to each clamp. Afterward the tool was assembled and sensors were calibrated. A DC motor with a encoder was used as operator of the tool. Data of the encoder are used to determining compaction of the tissue
  9. Keywords:
  10. Force-Displacement Diagram ; Laparoscopic Surgery ; Robotic Hand ; Diagnostic Instrument ; Artificial Tactile

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