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Retinal microsurgery routinely requires the manipulation of extremely delicate tissues. Membrane peeling is a prototypical task where a layer of fibrous tissue is delaminated off the retina with a micro-forceps by applying very fine forces that are mostly imperceptible to the surgeon. Previously we developed sensitized ophthalmic surgery tools that can precisely detect the transverse forces at the...
A flexible, wearable sensor patch for simultaneous monitoring of local skin pressure and temperature is described. Measurement can be collected for a period of time extending over several hours, suitable for monitoring in a clinical setting, for example during surgery, in the home, or in a long-term care facility. Experimental results are presented demonstrating pressure and temperature measurement...
The missing haptic feedback in minimally invasive and robotic surgery has prompted the development of a number of approaches to estimate the force acting on the instruments. Modifications of the instrument can be costly, fragile, and harder to sterilize. We propose a method to estimate the forces from the tissue deformation, hence working with multiple instruments and avoiding any modification to...
This paper presents the development of a surgical instrument to measure interaction forces/torques with organic tissue during operation. The focus is on the design progress of the sensor element, consisting of a spoke wheel deformation element with a diameter of 12 mm and eight inhomogeneous doped piezoresistive silicon strain gauges on an integrated full-bridge assembly with an edge length of 500...
Vertebral compression fractures are treated surgically for approximately 25 years. In percutaneous cement augmentation techniques bone cement is applied to a fractured vertebra under fluoroscopic evidence to stabilize the bone fragments. Complications due to leakage of the low viscosity bone cement are reported in 5 to 15% of all routine cases. During the intraoperative application of bone cement...
This study developed support software for liver surgeons; the software can apply potential functions to blood vessels and cancerous tissue and can adjust repulsion and attraction accordingly. Thus, the scalpel can be directly provided with the power to operate on cancerous cells only from a fixed distance, and accidental cutting of blood vessels can be avoided. The direct support provided by this...
This paper proposes a smart staff that can vary its length according to height or physical condition of elder, or slope of the ground. In order to find the optimal length of staff, the supporting force is employed as the measure. Initial experiment conducts measurement of the supporting force by using a force sensor embedded at the distal end of the staff. It is found that people with different height...
In minimal invasive cardiac surgery (MICS), the surgeon is missing haptic feedback of the guide wire for navigation through the vessels. A wide range of guide wires with various properties and performance characteristics are available to reduce the risk of complications during the intervention. This paper presents a force sensing guide wire for cardiac catheterization, which provides the surgeon a...
In mandibular reconstructive surgery, straight surgical plates are predominantly used for osteotomy. In this process, a straight plate is bent to fit to the shape of the patient's defect. This potentially compromises the stability of the plate because of changes in mechanical properties resulting from plastic deformation; however, the effect of plastic deformation on stability has yet been investigated...
A study on haptic feedback of the master side for an interventional surgical robot system plays a critical important role in the master-slave vascular interventional surgery robot system with haptic feedback, and accuracy control of force feedback is an important means to improve accuracy of the vascular interventional surgery robot teleoperation. Focus on the problem of lacking haptic feedback and...
The use of endovascular aneurysm repair (EVAR) strategies for the treatment of complex aortic pathologies is a major area of investigation in modern surgery. EVAR strategies using fenestrated or branched devices provide alternatives to open surgery for patients with aortic pathologies with visceral branch involvement, but their applications have some major limitations. To extend endovascular repair...
The measurement of needle insertion characteristics into eye is required to develop eye mimicking material, realistic suturing simulator, and micro-suturing robot, however, the measurement is not easy because of the small size and intraocular pressure (IOP) of eye. The optical coherence tomography (OCT) integrated needle insertion system and IOP control system are proposed to solve the above problems...
Surgical robot systems for minimally invasive surgery (MIS), such as laparoscopic surgery, typically employ remote center of motion (RCM) mechanisms consisting of rigid links. Although the rigid body mechanisms have high reliability based on their stiffness, their large volume interferes the workspace of surgeons and the rigidity of pivot point requires precise positioning during the setup of robots...
This paper presents a method to estimate contact force for minimally invasive surgery (MIS) using endoscopic imagery. In order to provide surgeons the information of contact force as surgical instruments get contact to human tissue, we developed a method to calculate tissue deformation by reconstructing 3D model using real-time image processing. The force information will be fed back to a haptic device...
According to the world health organization survey, the number of patients died of disease of heart head blood-vessel per year up to 15 million, a serious threat to human health. Vascular Interventional Surgery (VIS) has been an effective method for treatment of vascular diseases. However, the surgeons are exposed to X-ray threatening the surgeons' health due to the depositing which lasts long. It...
Neurological intervention surgery (NIS) is surgery branch vascular interventional surgery, one kind of the minimally invasive. And it has become the mainstream of the treatment in the cerebrovascular disease. Robotic surgery system with the functions of haptic feedback and the doctor-patient separation has enormous significance for the development of NIS. However, in previous studies, the haptic feedback...
Robotically assisted catheterization has attracted significant interest in recent years. However, few designs have taken the reasonable control of the clamping force into consideration. Additionally, limited research has been conducted in the damage of the clamping mechanism to the catheter. This paper presents a novel clamping mechanism for a slave manipulator that can be used in the minimally invasive...
The catheter-based operating system is a specific surgical technique that can reduce the pain of the patients and permit a faster recovery compared with the conventional open surgery. It has gained increasing acceptance by the clinicians and patients. This technology has gradually matured. And it has started to extend from the therapeutic areas of cardiovascular disease to the cerebral vascular disease...
During the teleoperated robot assisted catheter interventional neurosurgery, to improve the transparency between the patient side (slave side) and the remote control side (mast side) have been obtained plenty of attention. In this research we hypothesized that the slave catheter interventional robot fully complied with the dynamics command which comes from the master site. This paper is concerned...
Robotically controlled steerable guidewire navigation systems has been paid much attention to, because it can allow the surgeons to be released from radiation and heavy radiation protection garments, reduce radiation exposure, increase precision and stability of motion, and add operator comfort. The aim of the study was to improve the precision of axial motion, rotational motion and force measurement,...
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