A micromachined piezoelectric tactile sensor for an endoscopic grasper-theory, fabrication and experiments

Dargahi, Javad; Parameswaran, M.; Payandeh, Shahram

doi:10.1109/84.870059

Cited by 187 publications

(105 citation statements)

References 10 publications

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“…In laparoscopic surgery, for example, piezoelectric actuators can be used to generate relatively high power densities, delivering high torque at low speed in a surgical instrument, and piezoelectric polymers can be used for haptic feedback during minimally invasive surgery. 23,53 Piezoelectric actuators and sensors are also used to achieve haptic feedback during robotic surgery for neurological cases.…”

Section: Contributions Of Piezoelectricity To Medicinementioning

confidence: 99%

Pierre Curie: the anonymous neurosurgical contributor

Man

Sabourin

Gandhi

et al. 2015

FOC

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Pierre Curie, best known as a Nobel Laureate in Physics for his co-contributions to the field of radioactivity alongside research partner and wife Marie Curie, died suddenly in 1906 from a street accident in Paris. Tragically, his skull was crushed under the wheel of a horse-drawn carriage. This article attempts to honor the life and achievements of Pierre Curie, whose trailblazing work in radioactivity and piezoelectricity set into motion a wide range of technological developments that have culminated in the advent of numerous techniques used in neurological surgery today. These innovations include brachytherapy, Gamma Knife radiosurgery, focused ultrasound, and haptic feedback in robotic surgery.

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Section: Contributions Of Piezoelectricity To Medicinementioning

confidence: 99%

Pierre Curie: the anonymous neurosurgical contributor

Man

Sabourin

Gandhi

et al. 2015

FOC

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“…As a result, a distributive system has the advantage of having higher spatial resolution than an array sensor with the same number of sensing elements. It should be noted that the regions between two sensing elements of an array sensor that have no sensitivity are sometimes referred to as dead areas [21] while this is not the case with distributive tactile sensors. Brett and Li [22] demonstrated that the dead areas of distributive sensors did not depend upon the number of sensing elements, but rather on the interpretation algorithm.…”

Section: Introductionmentioning

confidence: 99%

Neural Network Training Techniques for Enhancing the Performance of a Distributive Tactile Sensor

Tongpadungrod

2013

International Journal of Advanced Robotic Systems

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This work describes neural network training techniques for enhancing the performance of a onedimensional beam for determining load positions. The system was a distributive system which relied on the detection of changes in the surface properties that can be seen across the surface. The demonstrated distributive system was 400 mm in length. The applied load positions within the range 60 -300 mm could be determined with an average percentage error of 0.2% of the beam length which corresponded to a position error of 0.8 mm using a network trained with 10 training positions. It was found that the errors were higher for the load applied near the edges of the beam, leading to an average percentage error of 3.6% for the whole length of the beam. The normalization of the network output can be employed to reduce the average percentage error by approximately 1% for a given number of training positions. The performance was improved by introducing more training positions in the less sensitive area. The described training technique not only reduced the prediction error but also enlarged the areas where the prediction errors were satisfactorily small. Using the described technique, the overall prediction error could be decreased by 0.13 -0.24% of the beam length for 30 -10 training positions.The area where the prediction errors were within 2 mm was increased by 14.5 -7.3% of the beam length for a network trained with 4 training positions in the middle portion using 10 -30 training positions.

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“…Therefore, tracking of instruments during a surgical operation is being used more and more frequently to increase precision, reduce the risk of injury, plan optimal access routes preoperatively, find and follow the instruments intraoperatively, and finally, to increase the quality of interventional procedures [18,19] . In certain areas of MIS, such as neurosurgery, the procedure is already well established, whereas in other procedures, such as laparoscopy or other endoscopic surgeries, the research activities are very limited [20,21,22,23] . In navigation protocols, because the precision required is extremely high, the costs of such systems are too high and restrictive for broad use [24,25,26,27] .…”

Section: Introductionmentioning

confidence: 99%

A Novel Modeling Approach for Collision Avoidance in Robotic Surgery

Ramezanifard¹,

Dargahi²,

Najarian³

et al. 2007

American J. of Applied Sciences

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Abstract:We present a new system that can be used in combination with an array of ultrasonic piezoelectric sensors and has application in surgical navigation procedures. Using the proposed assembly, the maneuverability of the surgical tools can be enhanced and the incidence of potentially damaging contact with non-target tissue can be reduced. The emphasis of our work was based on controlling the motion of the surgical tools so that they can readily move around a biological tissue. According to the results of the simulation performed, the direction of the tool can be monitored and controlled continuously and hence the outcome of the surgery can be improved. Another important parameter that incorporated in the simulation was the distance between the tool and the tissue. The simulation results show that the proper control of the tool movement can keep the distance between the two at a certain predetermined value while the tool passing by the tissue. In the collision avoidance scheme, the transducers located on the lateral side of the surgical tool mainly act as the distance detector to keep the distance between the lateral surface of the tool and the tissue surface at a constant value of 5 mm.

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A micromachined piezoelectric tactile sensor for an endoscopic grasper-theory, fabrication and experiments

Cited by 187 publications

References 10 publications

Pierre Curie: the anonymous neurosurgical contributor

Pierre Curie: the anonymous neurosurgical contributor

Neural Network Training Techniques for Enhancing the Performance of a Distributive Tactile Sensor

A Novel Modeling Approach for Collision Avoidance in Robotic Surgery

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