Tirehdast Mojdeh, Mirbagheri Alireza, Asghari Mohsen, Farahmand Farzam
School of Mechanical Engineering, Sharif University of Technology, Tehran, Iran.
Stud Health Technol Inform. 2011;163:663-9.
The aim of this study was to develop a more sophisticated model of the spleen tissue and investigate its interactions with a three-fingered laparoscopic grasper. The spleen tissue, modeled as a hyper viscoelastic material, was subjected to external loadings, imposed by rigid grasping jaws. The tissue deformation as well as the sliding occurrence between tissue and jaws was investigated using nonlinear finite element method. Results indicated that a grasping configuration which aimed a sufficiently large piece of spleen with small radius of curvature was more successful for effective grasping. The trends and magnitudes of the tool-tissue interaction forces obtained during effective and ineffective grasping were quite different. A force with progressively increasing trend toward a high magnitude was found to be indicative of effective and safe grasping. This finding might be used to predict the effectiveness of different grasping configurations and sliding thresholds during spleen and other soft organs surgery.
本研究的目的是开发一个更复杂的脾脏组织模型，并研究其与三指腹腔镜抓钳的相互作用。脾脏组织被建模为一种超粘弹性材料，受到刚性抓钳施加的外部载荷。使用非线性有限元方法研究了组织变形以及组织与抓钳之间的滑动情况。结果表明，针对曲率半径小的足够大的脾脏块的抓持构型在有效抓持方面更成功。有效抓持和无效抓持过程中获得的工具-组织相互作用力的趋势和大小有很大不同。发现一种朝着高幅值逐渐增加趋势的力表明抓持有效且安全。这一发现可用于预测脾脏和其他软组织器官手术中不同抓持构型的有效性和滑动阈值。
