Proceedings ArticleDOI
Design and analysis of an actuated endoscopic grasper for manipulation of large body organs
Alireza Mirbagheri,Farzam Farahmand +1 more
- Vol. 2010, pp 1230-1233
TLDR
The design and analysis of a novel actuated endoscopic grasper for manipulation of large internal organs, which resembles a miniaturized three fingered hand with each finger consisting of two links, is described.Abstract:
During laparoscopic surgery, grasping of large body organs such as spleen, kidney, and liver, is a difficult task using conventional instruments. This paper describes the design and analysis of a novel actuated endoscopic grasper for manipulation of large internal organs. The designed instrument resembles a miniaturized three fingered hand with each finger consisting of two links. It could pass through a 10 mm trocar and then be opened inside the abdomen to grasp body organs up to 80 mm diameter. A detailed force analysis of the mechanism revealed that high actuating forces are required to grasp large organs. In order to facilitate the actuation of the grasper, its dimensions were optimized against the needed actuating force and an electro-mechanical actuator was designed to activate the system. Design optimization of the grasper resulted in up to 40% decrease in the required actuating force which could be effectively produced by a small linear actuator, with a moving course of 10 mm, placed inside the instrument handle. Finally, the efficacy of the actuated endoscopic grasper during a laparoscopic surgery operation was demonstrated using computer simulation.read more
Citations
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Journal ArticleDOI
Design and development of an effective low-cost robotic cameraman for laparoscopic surgery: RoboLens
Alireza Mirbagheri,Alireza Mirbagheri,Farzam Farahmand,Farzam Farahmand,Ali Meghdari,Faramarz Karimian +5 more
TL;DR: The robotic system designed and developed to perform the camera handling task during laparoscopic surgery was found to be easy to set up and use, and contributed to a faster and more accurate surgical operation.
Journal ArticleDOI
A triple-jaw actuated and sensorized instrument for grasping large organs during minimally invasive robotic surgery.
TL;DR: 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.
Proceedings ArticleDOI
Design of a force-reflective master robot for haptic telesurgery applications: RoboMaster1
TL;DR: The design and development of a 4 DOF force-reflective master robot (RoboMaster1) for haptic telesurgery applications including a two-double parallelogram robot is introduced including a novel mechanism at the base for producing and control of the end effector's linear motion.
Journal ArticleDOI
Design, Analysis, and Experimental Evaluation of a Novel Three-Fingered Endoscopic Large-Organ Grasper
TL;DR: A novel three-fingered endoscopic instrument, based on parallelogram mechanism, which can fully constrain the large organs and provide an effective grasping function and is expected to provide a practical and feasible solution for grasping of large organs during endoscopic operations.
Proceedings ArticleDOI
Design of SMA micro-gripper for minimally invasive surgery
TL;DR: This work proposes the use of one SMA braided-wire in a spiral sheath cut inside the covering tube capable of using longer SMA wire, which demands less electric pulses to actuate, easily controlled and is applicable in heart surgeries with limited trocar aperture.
References
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Patent
Manipulable hand for laparoscopy
TL;DR: In this paper, a manipulable hand for use in laparoscopic surgery is described, having a master or control hand with clamps for attaching the master hand to that of an operator.
Patent
Apparatus and method for performing surgical tasks during laparoscopic procedures
TL;DR: In this paper, an apparatus for performing surgical tasks during laparoscopic procedures which includes an elongated body, a mechanical hand operatively associated with a distal portion of the body and including a plurality of articulated fingers was provided.
Patent
Laparoscopic instrument with parallel actuated jaws
TL;DR: In this article, a surgical instrument including a handle assembly, and end effector mechanism including jaws, an elongated shaft assembly having a longitudinal actuation rod linearly reciprocating within a hollow sheath, slidingably connecting the handle assembly to the jaws.
Proceedings ArticleDOI
Assemblable three-fingered nine-degree of freedom hand for laparoscopic surgery
TL;DR: An assemblable hand with three fingers and nine degrees of freedom-the 3f9d-hand is presented, which facilitates assembly and improves safety, which is a significant improvement compared with the previous hand.
Proceedings ArticleDOI
Assemblable three fingered five-DOF hand for laparoscopic surgery
R. Ohshima,Toshio Takayama,Toru Omata,Toshiki Ohya,Kazuyuki Kojima,Kozo Takase,Naofumi Tanaka +6 more
TL;DR: The purpose of this paper is to develop an assemblable hand with more degrees of freedom that can grasp/push aside large internal organs and open membranes and its power transmission mechanisms and assembling method are completely different from those of the previous hand.
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