DESIGN, CONSTRUCTION, AND MATHEMATICAL MODELING OF A TACTILE SENSOR FOR APPLICATIONS IN ROBOTIC SURGERY

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NAJARIAN S.; DARGAHI J.

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Journal: AMIRKABIR Year:2005 | Volume:16 | Issue:62-A Page(s): 37-46

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Information Journal Paper

Title

DESIGN, CONSTRUCTION, AND MATHEMATICAL MODELING OF A TACTILE SENSOR FOR APPLICATIONS IN ROBOTIC SURGERY

Author(s)

NAJARIAN S. | DARGAHI J. | Issue Writer Certificate

Keywords

MINIMALLY INVASIVE SURGERYQ4

TACTILE SENSORQ4

ENDOSCOPYQ4

MATHEMATICAL MODELINGQ3

ROBOTIC SURGERYQ4

Abstract

In this article, a novel method is presented to experimentally determine the stiffness of sensed objects using surgical tools of MINIMALLY INVASIVE SURGERY. To evaluate this mechanical property, which has numerous applications in the field of biomedical engineering, a custom-made TACTILE SENSOR was designed and tested. This sensor consists of two separate parts, i.e., a rigid cylindrical section and an annular hollow section made of foam. As a representative application of the constructed sensor, we integrated it with an endoscope grasper and tested the resulting tool. To analyze the performance of the designed grasper, a theoretical model is presented and the experimental data are compared with the proposed model. Keeping the applied forces in the range of one-tenths to one Newton, the resulting error was about twenty percent in estimating the modulus of elasticity of the tested objects. In this research work, for the first time, an endoscope grasper is constructed, which has the capability of estimating the modulus of elasticity.

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APA: Copy

NAJARIAN, S., & DARGAHI, J.. (2005). DESIGN, CONSTRUCTION, AND MATHEMATICAL MODELING OF A TACTILE SENSOR FOR APPLICATIONS IN ROBOTIC SURGERY. AMIRKABIR, 16(62-A), 37-46. SID. https://sid.ir/paper/770/en

Vancouver: Copy

NAJARIAN S., DARGAHI J.. DESIGN, CONSTRUCTION, AND MATHEMATICAL MODELING OF A TACTILE SENSOR FOR APPLICATIONS IN ROBOTIC SURGERY. AMIRKABIR[Internet]. 2005;16(62-A):37-46. Available from: https://sid.ir/paper/770/en

IEEE: Copy

S. NAJARIAN, and J. DARGAHI, “DESIGN, CONSTRUCTION, AND MATHEMATICAL MODELING OF A TACTILE SENSOR FOR APPLICATIONS IN ROBOTIC SURGERY,” AMIRKABIR, vol. 16, no. 62-A, pp. 37–46, 2005, [Online]. Available: https://sid.ir/paper/770/en

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