Development and assessment of a stiffness display system for minimally invasive surgery based on smart magneto-rheological elastomers

Hooshiar, Amir; Alkhalaf, Ali; Dargahi, Javad

doi:10.1016/j.msec.2019.110409

Cited by 24 publications

(6 citation statements)

References 44 publications

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“…Therefore, the results presented in this work indicate that the modified MRE bearing could be simultaneously used as an actuator and a sensor. Hooshiar et al [84] proposed a stiffness display using MRE which can be applicable to manual surgery or robotic minimally invasive surgery. Figure 12 shows a schematic configuration and working principle of the proposed display device.…”

Section: Mre and Mrp Sensorsmentioning

confidence: 99%

Sensors and Sensing Devices Utilizing Electrorheological Fluids and Magnetorheological Materials – a Review

Park,

Choi

2024

Preprint

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This paper comprehensively reviews sensors and sensing devices developed or/and proposed so far utilizing two smart materials: electrorheological fluids (ERFs) and magnetorheological materials (MRMs) whose rheological characteristics such as stiffness and damping can be controlled by external stimuli, an electrical voltage for ERFs and a magnetic field for MRMs, respectively. In this review article, the MRMs are classified into magnetorheological fluid (MRF), magnetorheological elastomer (MRE) and magnetorheological plastomer (MRP). To easily understand the history of sensing research using the two smart materials, the order of this review article is organized in a chronological manner of ERF sensors, MRF sensors, MRE sensors and MRP sensors. Among many sensors fabricated from each smart material, one or two sensors or sensing devices are adopted to discuss on the sensing configuration, working principle and specifications such as accuracy and sensitivity. Some sensors adopted in this article include force sensor, tactile device, strain sensor, wearable bending sensor, magnetometer, display device and flux measurement sensor. After briefly describing what have been reviewed in a conclusion, several challenging future works, which should be done for practical applications as sensors or sensing devices, are remarked in terms of new technologies such as artificial intelligence neural network in which several parameters affecting the sensor signals can be precisely tuned or controlled. It is sure that this review article is very helpful to make creative sensors using not only the proposed smart materials but also several different types of smart materials including shape memory alloys and active polymers.

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Section: Mre and Mrp Sensorsmentioning

confidence: 99%

Sensors and Sensing Devices Utilizing Electrorheological Fluids and Magnetorheological Materials – a Review

Park,

Choi

2024

Preprint

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“…In contrast, Nayak et al improved PID control curve stability using adaptive SOS and symbiotic object search algorithms, though overshoot issues persisted [6]. In specialized applications, PID controllers demonstrated excellent performance, such as in manual and robotic minimally invasive surgery, magnetic levitation systems, and adaptive fault-tolerance control systems for robot manipulators [7][8][9][10].…”

Section: Introductionmentioning

confidence: 99%

Research into the Beetle Antennae Optimization-Based PID Servo System Control of an Industrial Robot

Ji,

Wei,

Wang

et al. 2023

Mathematics

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Industrial robot speed control remains a critical aspect for efficient operations, especially given the challenges of nonlinearity and multivariable characteristics inherent to servo motor control systems, as well as energy inefficiencies due to a lack of automatic speed control. This study refines an existing control algorithm, beetle antennae optimization (BAO), by integrating elements of particle swarm optimization (PSO) and a beetle antennae search algorithm (BAS), further enhanced by chaos mapping and an adaptive weighting factor. These modifications aim to improve the algorithm’s search capabilities and mitigate the risks of settling into local optima. Unlike previous iterations, this study includes rigorous dynamic and stability analyses focusing on key performance metrics such as settling time, overshoot, and steady-state error. Comparative Simulink/MATLAB modeling demonstrates that the enhanced BAO algorithm significantly outperforms traditional PID control, BAS, and adaptive weighted-PSO in reducing static error, overshoot, and adjustment time under various conditions, including scenarios with external disturbances. Our results indicate a 60% improvement in the optimization performance of speed curve metrics, confirming the enhanced efficacy and robustness of the robotic control system. This research offers valuable insights into the advantages of the refined BAO algorithm, providing a comprehensive basis for its practical application in industrial robotic control systems.

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“…Additionally, these sensors should work in both static and dynamic loading conditions while showing low hysteresis and non-linearity [ 17 ]. The output of such tactile sensors can be relayed to surgeons via visual feedback [ 18 , 19 , 20 ] or through tactile displays [ 21 , 22 , 23 , 24 ]. The choice of the sensing principle for tactile sensors highly depends on the requirements of the surgical application.…”

Section: Introductionmentioning

confidence: 99%

Optical Fiber Array Sensor for Force Estimation and Localization in TAVI Procedure: Design, Modeling, Analysis and Validation

Bandari

Dargahi

Packirisamy

2021

Sensors

Self Cite

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Transcatheter aortic valve implantation has shown superior clinical outcomes compared to open aortic valve replacement surgery. The loss of the natural sense of touch, inherited from its minimally invasive nature, could lead to misplacement of the valve in the aortic annulus. In this study, a cylindrical optical fiber sensor is proposed to be integrated with valve delivery catheters. The proposed sensor works based on intensity modulation principle and is capable of measuring and localizing lateral force. The proposed sensor was constituted of an array of optical fibers embedded on a rigid substrate and covered by a flexible shell. The optical fibers were modeled as Euler–Bernoulli beams with both-end fixed boundary conditions. To study the sensing principle, a parametric finite element model of the sensor with lateral point loads was developed and the deflection of the optical fibers, as the determinant of light intensity modulation was analyzed. Moreover, the sensor was fabricated, and a set of experiments were performed to study the performance of the sensor in lateral force measurement and localization. The results showed that the transmitted light intensity decreased up to 24% for an external force of 1 N. Additionally, the results showed the same trend between the simulation predictions and experimental results. The proposed sensor was sensitive to the magnitude and position of the external force which shows its capability for lateral force measurement and localization.

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Development and assessment of a stiffness display system for minimally invasive surgery based on smart magneto-rheological elastomers

Cited by 24 publications

References 44 publications

Sensors and Sensing Devices Utilizing Electrorheological Fluids and Magnetorheological Materials – a Review

Sensors and Sensing Devices Utilizing Electrorheological Fluids and Magnetorheological Materials – a Review

Research into the Beetle Antennae Optimization-Based PID Servo System Control of an Industrial Robot

Optical Fiber Array Sensor for Force Estimation and Localization in TAVI Procedure: Design, Modeling, Analysis and Validation

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