Pahlavan Pedram, Najarian Siamak, Afshari Elnaz, Moini Majid
Biomedical Engineering, Artificial Tactile Sensing and Robotic Surgery Laboratory, Faculty of Biomedical Engineering, Amirkabir University of Technology, Tehran, Iran.
Biomed Mater Eng. 2013;23(5):423-32. doi: 10.3233/BME-130764.
Artificial palpation is one of the most valuable achievements of artificial tactile sensing approach that can be used in various fields of medicine and more specifically in surgery. These techniques cause different surgical maneuvers to be done more precisely and noninvasively. In this study, considering the present problems and limitations of cross-clamping an artery during laparoscopic vascular surgeries, a new tactile sensory system will be introduced.Having imitated surgeon's palpation during open vascular surgeries and modeled it conceptually, the optimal amount of the total angular displacement of each robot joint in order to cross-clamping an artery without damaging to the artery surrounding tissues will be calculated. The elastic governing equation of contact occurred between the tactile sensor placed on the first link of the robot and the surrounding tissues around the artery were developed. A finite element model is coupled with genetic algorithm optimization method so that the normal stress and displacements in contact surface of the robot and artery's surrounding tissues would be minimized. Thus, reliability and accuracy of artificial tactile sensing method in artery cross-clamping will be demonstrated. Finally, the functional principles of the new tactile system capable of cross-clamping an artery during laparoscopic surgeries will be presented.
人工触诊是人工触觉传感方法最有价值的成果之一，可应用于医学的各个领域，尤其是外科手术。这些技术能使不同的外科手术操作更精确且无创地完成。在本研究中，考虑到腹腔镜血管手术中动脉交叉钳夹目前存在的问题和局限性，将引入一种新的触觉传感系统。通过模仿开放血管手术中外科医生的触诊并进行概念建模，计算出每个机器人关节的总角位移的最佳量，以便在不损伤动脉周围组织的情况下进行动脉交叉钳夹。推导了放置在机器人第一连杆上的触觉传感器与动脉周围组织之间发生接触的弹性控制方程。将有限元模型与遗传算法优化方法相结合，以使机器人与动脉周围组织接触表面的法向应力和位移最小化。从而证明人工触觉传感方法在动脉交叉钳夹中的可靠性和准确性。最后，将介绍能够在腹腔镜手术中进行动脉交叉钳夹的新型触觉系统的功能原理。
