Retraction Force Measurement During Transgastric and Transvaginal NOTES

Jamidar, Priya A.; Mosse, Charles A.; Cadeddu, Margherita; Boyd, Michael; Swain, Paul

doi:10.1016/j.gie.2008.03.182

Cited by 5 publications

(3 citation statements)

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“…These problems can be complex and many surgeons are finding the available instrumentation to be inadequate. For example, Jamidar et al calculated the force required to adequately retract the gall bladder for NOTES cholecystectomy (both transgastric and transvaginal) and found that flexible endoscopes were unable to generate enough traction force [1]. For LESS, transabdominal access points are clustered close together in an effort to minimize incision length; however, internal and external collisions between instruments may make retraction, dissection, and visualization challenging.…”

Section: Introductionmentioning

confidence: 99%

Maximizing coupling strength of magnetically anchored surgical instruments: how thick can we go?

et al. 2010

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Section: Introductionmentioning

confidence: 99%

Maximizing coupling strength of magnetically anchored surgical instruments: how thick can we go?

et al. 2010

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“…The CAD model of the module was imported and meshed with 10-node modified quadratic tetrahedron (C3D10M) elements. A Neo-Hookean hyper-elastic isotropic model was used to model the mechanical behavior of the inner module, in which the strain energy function ψ is described as a function of the first invariant of the left Cauchy-Green deformation tensor I 1 and the elastic volume ratio J: Force mean retraction force ≥3.53 N for straight and ≥0.5 N for retroflexed configuration required forces for endoscopic biopsy procedure (Jamidar et al, 2008)…”

Section: Finite Element Modelingmentioning

confidence: 99%

Adaptive control of a soft pneumatic actuator using experimental characterization data

Mak

Beidokhti²,

Lin³

et al. 2023

Front. Robot. AI

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Fiber reinforced soft pneumatic actuators are hard to control due to their non-linear behavior and non-uniformity introduced by the fabrication process. Model-based controllers generally have difficulty compensating non-uniform and non-linear material behaviors, whereas model-free approaches are harder to interpret and tune intuitively. In this study, we present the design, fabrication, characterization, and control of a fiber reinforced soft pneumatic module with an outer diameter size of 12 mm. Specifically, we utilized the characterization data to adaptively control the soft pneumatic actuator. From the measured characterization data, we fitted mapping functions between the actuator input pressures and the actuator space angles. These maps were used to construct the feedforward control signal and tune the feedback controller adaptively depending on the actuator bending configuration. The performance of the proposed control approach is experimentally validated by comparing the measured 2D tip orientation against the reference trajectory. The adaptive controller was able to successfully follow the prescribed trajectory with a mean absolute error of 0.68° for the magnitude of the bending angle and 3.5° for the bending phase around the axial direction. The data-driven control method introduced in this paper may offer a solution to intuitively tune and control soft pneumatic actuators, compensating for their non-uniform and non-linear behavior.

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“…Various new devices and tools were showcased at DDW 2008. Angulation, retraction force, and stabilization are the most criti− cal points for endosurgery [54]. Hence, there is a need for stiffen− ers to increase the transmission force.…”

mentioning

confidence: 99%