| A triple-jaw actuated and sensorized instrument for grasping large organs during minimally invasive robotic surgery. | |
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MedLine Citation:
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PMID: 22576714 Owner: NLM Status: Publisher |
Abstract/OtherAbstract:
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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. |
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Authors:
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Alireza Mirbagheri; Farzam Farahmand |
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Publication Detail:
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Type: JOURNAL ARTICLE Date: 2012-5-10 |
Journal Detail:
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Title: The international journal of medical robotics + computer assisted surgery : MRCAS Volume: - ISSN: 1478-596X ISO Abbreviation: - Publication Date: 2012 May |
Date Detail:
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Created Date: 2012-5-11 Completed Date: - Revised Date: - |
Medline Journal Info:
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Nlm Unique ID: 101250764 Medline TA: Int J Med Robot Country: - |
Other Details:
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Languages: ENG Pagination: - Citation Subset: - |
Copyright Information:
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Copyright © 2012 John Wiley & Sons, Ltd. |
Affiliation:
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School of Mechanical Engineering, Sharif University of Technology, Robotic Surgery Lab., RCSTIM, Tehran University of Medical Sciences, Tehran, Iran. |
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From MEDLINE®/PubMed®, a database of the U.S. National Library of Medicine
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