Document Detail


A triple-jaw actuated and sensorized instrument for grasping large organs during minimally invasive robotic surgery.
MedLine Citation:
PMID:  22576714     Owner:  NLM     Status:  Publisher    
Abstract/OtherAbstract:
BACKGROUND: Secure grasping and effective manipulation of delicate large organs during robotic surgery operations needs especially designed instruments that can enclose a large amount of tissue and feed back the pinch forces. METHODS: A large organ triple-jaw grasper was instrumented using practical force sensory and actuating systems. A force tracking scheme was proposed to facilitate auto-grasping of large organs during robotic teleoperation surgery. An on-site force commanding/reflecting mechanism was also implemented to use the device as an independent hand-held robotic instrument. The efficacy of the robotic grasper was examined in phantom tests. RESULTS: The instrument grasped large soft objects effectively and safely with accurately measured and controlled pinch forces. Furthermore, it could characterize the overall mechanical behavior of the grasping objects. CONCLUSIONS: The instrument designed provides a potential solution for the safe and effective grasping and manipulation of large abdominal organs, either as a hand-held device, or in a teleoperation framework. Copyright © 2012 John Wiley & Sons, Ltd.
Authors:
Alireza Mirbagheri; Farzam Farahmand
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Publication Detail:
Type:  JOURNAL ARTICLE     Date:  2012-5-10
Journal Detail:
Title:  The international journal of medical robotics + computer assisted surgery : MRCAS     Volume:  -     ISSN:  1478-596X     ISO Abbreviation:  -     Publication Date:  2012 May 
Date Detail:
Created Date:  2012-5-11     Completed Date:  -     Revised Date:  -    
Medline Journal Info:
Nlm Unique ID:  101250764     Medline TA:  Int J Med Robot     Country:  -    
Other Details:
Languages:  ENG     Pagination:  -     Citation Subset:  -    
Copyright Information:
Copyright © 2012 John Wiley & Sons, Ltd.
Affiliation:
School of Mechanical Engineering, Sharif University of Technology, Robotic Surgery Lab., RCSTIM, Tehran University of Medical Sciences, Tehran, Iran.
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