Development Of Capacitive Tactile Sensors For Surgical Systems

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Development Of Capacitive Tactile Sensors For Surgical Systems

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Author : Yuan Dai
language : en
Publisher:
Release Date : 2015

Development Of Capacitive Tactile Sensors For Surgical Systems written by Yuan Dai and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015 with categories.

Minimally invasive surgery (MIS) has gained popularity over traditional open surgery due to its advantages of decreased incision size and pain to the patient, lower risk of infection, and shorter recovery time. Recent developments in robotic surgical systems have shown promise to further advance MIS by offering the surgeons with increased manipulability and dexterity along with 3D vision. However, one major disadvantage associated with robotic surgery is the absence of tactile feedback, which is critical in tool-tissue interaction. This paper provides an overview and information useful for approaching a novel tactile feedback sensor system. We aim to construct highly sensitive micro-scale tri-axial capacitive-based differential force sensors that will be integrated at the tips of surgical tools used in robotic surgery. To date, three capacitive sensor models have been proposed. Comb drive model, joystick model and single-sided capacitive sensor model. The first two models were initially created by COMSOL, with optimized geometry parameters. We demonstrate that all three models can satisfy the sensitivity and resolution requirement after being connected with a readout circuit. The fabrication process is proposed and short-loop experiments have been conducted. The integration of read-out circuits with the capacitive sensor is designed on a flexible printed circuit board, which will be first connected to the computer with LabVIEW based controller to convert the analog signal to digital capacitor signal, and the force information as well as the real-time sensitivity, resolution values can be obtained. After the functionality of the sensor is proven to be valid, the proposed tactile sensor system needs to integrate into current Haptic Feedback System. Both the microcontroller and the software need to be modified to function with the proposed sensor and the actuators.

Medical Challenges For The New Millennium

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Author : Stefan N. Willich
language : en
Publisher: Springer Science & Business Media
Release Date : 2001-04-30

Medical Challenges For The New Millennium written by Stefan N. Willich and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2001-04-30 with Health & Fitness categories.

Today the medical community faces a number of pressing issues. Molecular and high-tech medicine, despite their tremendous successes, also burden us with new ethical dilemmas: when and how to die, whose life to preserve, whether to modify genes and to create life, and how to pay for it all. Furthermore, alternative methods appear to work at least for certain disorders. They are popular and definitely cost less, while the spiraling costs of conventional medicine have led to the development of managed care and health economy assessments with controversial consequences. An international symposium in Berlin, in September 1999, sought to address some of these issues by sparking an interdisciplinary discussion gathering leading experts in the field of genetics, robotic surgery, medical ethics, preventive health and health economics, history, and law. This book contains all the contributions and seeks to involve scholars and medical practitioners who are interested in shaping the future of medicine.

Handbook Of Robotic And Image Guided Surgery

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Author : Mohammad Hossein Abedin Nasab
language : en
Publisher: Elsevier
Release Date : 2019-09-25

Handbook Of Robotic And Image Guided Surgery written by Mohammad Hossein Abedin Nasab and has been published by Elsevier this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-09-25 with Science categories.

Handbook of Robotic and Image-Guided Surgery provides state-of-the-art systems and methods for robotic and computer-assisted surgeries. In this masterpiece, contributions of 169 researchers from 19 countries have been gathered to provide 38 chapters. This handbook is 744 pages, includes 659 figures and 61 videos. It also provides basic medical knowledge for engineers and basic engineering principles for surgeons. A key strength of this text is the fusion of engineering, radiology, and surgical principles into one book. - A thorough and in-depth handbook on surgical robotics and image-guided surgery which includes both fundamentals and advances in the field - A comprehensive reference on robot-assisted laparoscopic, orthopedic, and head-and-neck surgeries - Chapters are contributed by worldwide experts from both engineering and surgical backgrounds

Functional Tactile Sensors

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Author : Ye Zhou
language : en
Publisher: Woodhead Publishing
Release Date : 2021-01-20

Functional Tactile Sensors written by Ye Zhou and has been published by Woodhead Publishing this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-01-20 with Technology & Engineering categories.

Functional Tactile Sensors: Materials, Devices and Integrations focuses on the subject of novel materials design and device integration of tactile sensors for functional applications. The book addresses the design, materials characteristics, device operation principles, specialized device application and mechanisms of the latest reported tactile sensors. The emphasis of the book lies in the materials science aspects of tactile sensors—understanding the relationship between material properties and device performance. It will be an ideal resource for researchers working in materials science, engineering and physics. - Includes the latest advances and recent developments in tactile sensors for artificial intelligence applications - Reviews the relationship between materials properties and device performance - Addresses materials and device design strategies for targeted sensing applications

Frontiers In Robotics And Ai Editor S Picks 2022

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Author : Kostas J. Kyriakopoulos
language : en
Publisher: Frontiers Media SA
Release Date : 2023-03-10

Frontiers In Robotics And Ai Editor S Picks 2022 written by Kostas J. Kyriakopoulos and has been published by Frontiers Media SA this book supported file pdf, txt, epub, kindle and other format this book has been release on 2023-03-10 with Science categories.

Encyclopedia Of Medical Robotics The In 4 Volumes

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Author :
language : en
Publisher: World Scientific
Release Date : 2018-08-28

Encyclopedia Of Medical Robotics The In 4 Volumes written by and has been published by World Scientific this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-08-28 with Medical categories.

The Encyclopedia of Medical Robotics combines contributions in four distinct areas of Medical robotics, namely: Minimally Invasive Surgical Robotics, Micro and Nano Robotics in Medicine, Image-guided Surgical Procedures and Interventions, and Rehabilitation Robotics. The volume on Minimally Invasive Surgical Robotics focuses on robotic technologies geared towards challenges and opportunities in minimally invasive surgery and the research, design, implementation and clinical use of minimally invasive robotic systems. The volume on Micro and Nano robotics in Medicine is dedicated to research activities in an area of emerging interdisciplinary technology that is raising new scientific challenges and promising revolutionary advancement in applications such as medicine and biology. The size and range of these systems are at or below the micrometer scale and comprise assemblies of micro and nanoscale components. The volume on Image-guided Surgical Procedures and Interventions focuses primarily on the use of image guidance during surgical procedures and the challenges posed by various imaging environments and how they related to the design and development of robotic systems as well as their clinical applications. This volume also has significant contributions from the clinical viewpoint on some of the challenges in the domain of image-guided interventions. Finally, the volume on Rehabilitation Robotics is dedicated to the state-of-the-art of an emerging interdisciplinary field where robotics, sensors, and feedback are used in novel ways to re-learn, improve, or restore functional movements in humans.Volume 1, Minimally Invasive Surgical Robotics, focuses on an area of robotic applications that was established in the late 1990s, after the first robotics-assisted minimally invasive surgical procedure. This area has since received significant attention from industry and researchers. The teleoperated and ergonomic features of these robotic systems for minimally invasive surgery (MIS) have been able to reduce or eliminate most of the drawbacks of conventional (laparoscopic) MIS. Robotics-assisted MIS procedures have been conducted on over 3 million patients to date — primarily in the areas of urology, gynecology and general surgery using the FDA approved da Vinci® surgical system. The significant commercial and clinical success of the da Vinci® system has resulted in substantial research activity in recent years to reduce invasiveness, increase dexterity, provide additional features such as image guidance and haptic feedback, reduce size and cost, increase portability, and address specific clinical procedures. The area of robotic MIS is therefore in a state of rapid growth fueled by new developments in technologies such as continuum robotics, smart materials, sensing and actuation, and haptics and teleoperation. An important need arising from the incorporation of robotic technology for surgery is that of training in the appropriate use of the technology, and in the assessment of acquired skills. This volume covers the topics mentioned above in four sections. The first section gives an overview of the evolution and current state the da Vinci® system and clinical perspectives from three groups who use it on a regular basis. The second focuses on the research, and describes a number of new developments in surgical robotics that are likely to be the basis for the next generation of robotic MIS systems. The third deals with two important aspects of surgical robotic systems — teleoperation and haptics (the sense of touch). Technology for implementing the latter in a clinical setting is still very much at the research stage. The fourth section focuses on surgical training and skills assessment necessitated by the novelty and complexity of the technologies involved and the need to provide reliable and efficient training and objective assessment in the use of robotic MIS systems.In Volume 2, Micro and Nano Robotics in Medicine, a brief historical overview of the field of medical nanorobotics as well as the state-of-the-art in the field is presented in the introductory chapter. It covers the various types of nanorobotic systems, their applications and future directions in this field. The volume is divided into three themes related to medical applications. The first theme describes the main challenges of microrobotic design for propulsion in vascular media. Such nanoscale robotic agents are envisioned to revolutionize medicine by enabling minimally invasive diagnostic and therapeutic procedures. To be useful, nanorobots must be operated in complex biological fluids and tissues, which are often difficult to penetrate. In this section, a collection of four papers review the potential medical applications of motile nanorobots, catalytic-based propelling agents, biologically-inspired microrobots and nanoscale bacteria-enabled autonomous drug delivery systems. The second theme relates to the use of micro and nanorobots inside the body for drug-delivery and surgical applications. A collection of six chapters is presented in this segment. The first chapter reviews the different robot structures for three different types of surgery, namely laparoscopy, catheterization, and ophthalmic surgery. It highlights the progress of surgical microrobotics toward intracorporeally navigated mechanisms for ultra-minimally invasive interventions. Then, the design of different magnetic actuation platforms used in micro and nanorobotics are described. An overview of magnetic actuation-based control methods for microrobots, with eventually biomedical applications, is also covered in this segment. The third theme discusses the various nanomanipulation strategies that are currently used in biomedicine for cell characterization, injection, fusion and engineering. In-vitro (3D) cell culture has received increasing attention since it has been discovered to provide a better simulation environment of in-vivo cell growth. Nowadays, the rapid progress of robotic technology paves a new path for the highly controllable and flexible 3D cell assembly. One chapter in this segment discusses the applications of micro-nano robotic techniques for 3D cell culture using engineering approaches. Because cell fusion is important in numerous biological events and applications, such as tissue regeneration and cell reprogramming, a chapter on robotic-tweezers cell manipulation system to achieve precise laser-induced cell fusion using optical trapping has been included in this volume. Finally, the segment ends with a chapter on the use of novel MEMS-based characterization of micro-scale tissues instead of mechanical characterization for cell lines studies.Volume 3, Image-guided Surgical Procedures and Interventions, focuses on several aspects ranging from understanding the challenges and opportunities in this domain, to imaging technologies, to image-guided robotic systems for clinical applications. The volume includes several contributions in the area of imaging in the areas of X-Ray fluoroscopy, CT, PET, MR Imaging, Ultrasound imaging, and optical coherence tomography. Ultrasound-based diagnostics and therapeutics as well as ultrasound-guided planning and navigation are also included in this volume in addition to multi-modal imaging techniques and its applications to surgery and various interventions. The application of multi-modal imaging and fusion in the area of prostate biopsy is also covered. Imaging modality compatible robotic systems, sensors and actuator technologies for use in the MRI environment are also included in this work., as is the development of the framework incorporating image-guided modeling for surgery and intervention. Finally, there are several chapters in the clinical applications domain covering cochlear implant surgery, neurosurgery, breast biopsy, prostate cancer treatment, endovascular interventions, neurovascular interventions, robotic capsule endoscopy, and MRI-guided neurosurgical procedures and interventions.Volume 4, Rehabilitation Robotics, is dedicated to the state-of-the-art of an emerging interdisciplinary field where robotics, sensors, and feedback are used in novel ways to relearn, improve, or restore functional movements in humans. This volume attempts to cover a number of topics relevant to the field. The first section addresses an important activity in our daily lives: walking, where the neuromuscular system orchestrates the gait, posture, and balance. Conditions such as stroke, vestibular deficits, or old age impair this important activity. Three chapters on robotic training, gait rehabilitation, and cooperative orthoses describe the current works in the field to address this issue. The second section covers the significant advances in and novel designs of soft actuators and wearable systems that have emerged in the area of prosthetic lower limbs and ankles in recent years, which offer potential for both rehabilitation and human augmentation. These are described in two chapters. The next section addresses an important emphasis in the field of medicine today that strives to bring rehabilitation out from the clinic into the home environment, so that these medical aids are more readily available to users. The current state-of-the-art in this field is described in a chapter. The last section focuses on rehab devices for the pediatric population. Their impairments are life-long and rehabilitation robotics can have an even bigger impact during their lifespan. In recent years, a number of new developments have been made to promote mobility, socialization, and rehabilitation among the very young: the infants and toddlers. These aspects are summarized in two chapters of this volume.

Tactile Sensing And Displays

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Author : Javad Dargahi
language : en
Publisher: John Wiley & Sons
Release Date : 2012-11-06

Tactile Sensing And Displays written by Javad Dargahi and has been published by John Wiley & Sons this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-11-06 with Science categories.

Comprehensively covers the key technologies for the development of tactile perception in minimally invasive surgery Covering the timely topic of tactile sensing and display in minimally invasive and robotic surgery, this book comprehensively explores new techniques which could dramatically reduce the need for invasive procedures. The tools currently used in minimally invasive surgery (MIS) lack any sort of tactile sensing, significantly reducing the performance of these types of procedures. This book systematically explains the various technologies which the most prominent researchers have proposed to overcome the problem. Furthermore, the authors put forward their own findings, which have been published in recent patents and patent applications. These solutions offer original and creative means of surmounting the current drawbacks of MIS and robotic surgery. Key features:- Comprehensively covers topics of this ground-breaking technology including tactile sensing, force sensing, tactile display, PVDF fundamentals Describes the mechanisms, methods and sensors that measure and display kinaesthetic and tactile data between a surgical tool and tissue Written by authors at the cutting-edge of research into the area of tactile perception in minimally invasive surgery Provides key topic for academic researchers, graduate students as well as professionals working in the area

Tactile Sensors For Minimally Invasive Surgical Systems

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Author : Omeed Paydar
language : en
Publisher:
Release Date : 2016

Tactile Sensors For Minimally Invasive Surgical Systems written by Omeed Paydar and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016 with categories.

Minimally invasive surgery (MIS) improves patient outcomes. Operations result in smaller incisions, shorter recovery times, lower risk of infection, and reduced pain as compared to open surgery. Moreover, robotic surgical systems improve upon traditional laparoscopic tools used in MIS, including improved dexterity, tremor removal, scaled movements, and 3D visualization. While the adoption of robotic surgical tools accelerates nationwide, these systems are characterized by an absence of touch sensation, which ultimately impedes transition of more delicate procedures. Likewise, excessive grip forces could induce tissue damage, including scar formation, hemorrhaging, perforations, and adhesions. Furthermore, without tactile information, sutures fail because of excessive tensile loads and surgeons require additional training to reach proficiency on the available surgical robots. Although robotics addresses a subset of surgical procedures, efforts to develop and integrate multi-axis biocompatible sensor arrays with commercial robotic surgical systems remain inadequate. New tools that measure compressive sensing could prevent tissue crush injuries, while shear sensing will help reduce suture failure from excessive tensile loads. Consequently, this study investigates the development of a capacitive sensor capable of restoring touch sensation to surgeons operating robotic surgical systems. Real-time access to operative loads could minimize robotic surgical complications, and ultimately, lead to the inclusion of more challenging (demanding) procedures. This work explores a relatively under-researched, undeveloped area of robotic surgery and the major remaining challenge. Because minimally invasive surgery (MIS), specifically robotic surgery, is becoming more prevalent [1], efforts to improve the outcomes are essential. Successful acquisition of intraoperative tactile information will fast-track acceptance of these tools and prevent unwanted patient outcomes.

Tactile Sensors For Robotic Applications

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Author : Salvatore Pirozzi
language : en
Publisher: MDPI
Release Date : 2021-03-17

Tactile Sensors For Robotic Applications written by Salvatore Pirozzi and has been published by MDPI this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-03-17 with Technology & Engineering categories.

The book covers different aspects: - Innovative technologies for tactile sensors development - Tactile data interpretation for control purposes - Alternative sensing technologies - Multi-sensor systems for grasping and manipulation - Sensing solutions for impaired people

Material Integrated Intelligent Systems

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Author : Stefan Bosse
language : en
Publisher: John Wiley & Sons
Release Date : 2018-03-12

Material Integrated Intelligent Systems written by Stefan Bosse and has been published by John Wiley & Sons this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-03-12 with Technology & Engineering categories.

Combining different perspectives from materials science, engineering, and computer science, this reference provides a unified view of the various aspects necessary for the successful realization of intelligent systems. The editors and authors are from academia and research institutions with close ties to industry, and are thus able to offer first-hand information here. They adopt a unique, three-tiered approach such that readers can gain basic, intermediate, and advanced topical knowledge. The technology section of the book is divided into chapters covering the basics of sensor integration in materials, the challenges associated with this approach, data processing, evaluation, and validation, as well as methods for achieving an autonomous energy supply. The applications part then goes on to showcase typical scenarios where material-integrated intelligent systems are already in use, such as for structural health monitoring and smart textiles.