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Design of Three Fingered 5 –DOF Hand for Laparoscopic Surgery

Masoumnia, Adel | 2014

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 45566 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Zohoor, Hasan
  7. Abstract:
  8. Today, many surgical procedures such, gallbladder, gastric bypass, placement of a ring around the stomach, partial removal of colon, removal of tumors use laparoscopic techniques. In this surgery, a variety of tools to capture and remove the internal organs can be used. Sometimes the surgeon selects the proper tools and replacement during surgery, so the surgeon had to do different things with the operation. These tools generally cannot be used because of the large internal organs device is small and does not have enough degrees of freedom. In laparoscopic surgery, the surgeon operate in the abdominal cavity using a thin instrument that is inserted through the trocar hole would do. If laparoscopic surgery is difficult, often through 7-8 cm incisions, the doctor or nurse will enter the patient's abdomen.
    It is clear that this method compared with laparoscopic surgery is quite invasive. The three-fingered five-degree of freedom non-dominant hand of the surgeon who is able to work on this project was designed to implement. Provides more degrees of freedom to perform more skills and thus make the cut for the surgery without switching tools or stomach, surgery may offer a less-invasive.In this project, the non-dominant hand of the surgeon's skills Laparoscopy expected to evaluate the instrumental and non-dominant hand surgeon to follow that path and skills to assist the surgeon in a surgical Laparoscopy, and needs to optimize if the mode was designed. For this purpose, the angles of the fingers in a configuration that laparoscopic surgery is needed, was determined by measuring the finger mechanism was designed so that it can track the surgeon's finger into the patient's stomach to pursue optimal.
  9. Keywords:
  10. Robotic Surgery ; Laparoscopic Surgery ; Robotic Laparascopic Instrument ; Surgical Instruments ; Robotic Hand ; 4-Bar Mechanism

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