A sensor-based minimally invasive surgery tool for detecting tissutal elastic properties(003) 5323219

Bicchi, Antonio; Canepa, Gaetano; Rossi, Danilo De; Iacconi, P.; Scillingo, E.P.

doi:10.1109/robot.1996.503884

Cited by 127 publications

(67 citation statements)

References 6 publications

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“…Although, for a fully dextrous device, it is desirable to measure forces and torques on all six axes, for graspers and simpler manipulators, fewer will be adequate [23]. The problems of displaying force to the surgeon are the same as actuation and control of force at the slave manipulator described above.…”

Section: A Force and Tactionmentioning

confidence: 99%

Applications of micromechatronics in minimally invasive surgery

Tendick,

Sastry,

Fearing

et al. 1998

IEEE/ASME Trans. Mechatron.

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Abstract-Many surgical procedures are now performed using the techniques of minimally invasive surgery (MIS), in which unnecessary trauma is limited by reducing the size of incisions to less than about 1 cm or by using catheters or endoscopes threaded through vessels, the gastrointestinal tract, or other tubular structures. Micromechatronic technologies have great potential to allow access to regions now inaccessible, or to enhance the surgeon's abilities in applications where current minimally invasive techniques do not permit the full range of human dexterity and perception. Key needs and applications in MIS are identified, and relevant technologies, methods, and systems issues in mechatronics are discussed. The authors' millirobotic system for MIS of the abdomen is used as an example.

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Section: A Force and Tactionmentioning

confidence: 99%

Applications of micromechatronics in minimally invasive surgery

Tendick,

Sastry,

Fearing

et al. 1998

IEEE/ASME Trans. Mechatron.

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show abstract

“…[8,9] . Any inhibitions on the surgeon's sensory abilities might lead to undesirable results [10,11,12,13] . One of the main difficulties encountered in this area is the inability in detecting the arteries embedded in tissues.…”

Section: Introductionmentioning

confidence: 99%

Tactile Distinction of an Artery and a Tumor in a Soft Tissue by Finite Element Method

Mehrizi¹,

Najarian²,

Moini³

et al. 2008

American J. of Applied Sciences

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Tactile detection of a tumor and an artery in a tissue and distinction of a healthy artery from a stenotic artery, using finite element method, are presented. Four 2D models of tissue have been created: tissue itself, tissue including a tumor (TIT), tissue including a healthy artery (TIHA), and tissue including a stenotic artery (TISA). After solving four models with similar boundary conditions and loadings, the 2D tactile mappings and stress graphs for upper nodes of models, which have key importance for transferring tactile data, were explored. Then, by comparing these results, if the stress values of nodes were constant and equal, tissue is unlikely to have any tumor or artery embedded. Otherwise, if the stress graph included a peak, the tissue had a tumor or an artery. Additionally, it was observed that the stress graph of tissue including an artery is time-dependent in comparison with the tissue including a tumor. Further, it was concluded that a stenotic artery had larger stress peak than a healthy artery.

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“…In MIS, any inhibitions on the surgeon's sensory abilities might lead to undesirable results [6,7,8,9] . MIS has many advantages; however, it decreases the sensory perception of the surgeon and the surgeon might accidentally cut or incur damage to some of the tissues [10,11,12,13] .…”

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 sensor-based minimally invasive surgery tool for detecting tissutal elastic properties(003) 5323219

Cited by 127 publications

References 6 publications

Applications of micromechatronics in minimally invasive surgery

Applications of micromechatronics in minimally invasive surgery

Tactile Distinction of an Artery and a Tumor in a Soft Tissue by Finite Element Method

A Novel Modeling Approach for Collision Avoidance in Robotic Surgery

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