A triple-jaw actuated and sensorized instrument for grasping large organs during minimally invasive robotic surgery

The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS
Alireza Mirbagheri, Farzam Farahmand

Abstract

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. A large organ triple-jaw grasper was instrumented using practical force sensory and actuating systems. A force tracking scheme was proposed to facilitate auto-grasping of large organs during robotic teleoperation surgery. An on-site force commanding/reflecting mechanism was also implemented to use the device as an independent hand-held robotic instrument. The efficacy of the robotic grasper was examined in phantom tests. The instrument grasped large soft objects effectively and safely with accurately measured and controlled pinch forces. Furthermore, it could characterize the overall mechanical behavior of the grasping objects. The instrument designed provides a potential solution for the safe and effective grasping and manipulation of large abdominal organs, either as a hand-held device, or in a teleoperation framework.

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Citations

Jan 26, 2016·The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS·Seyed Mohsen KhademFarzam Farahmand
Apr 14, 2017·Journal of Medical Engineering & Technology·Dariush NazarynasabElnaz Afshari
May 4, 2013·The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS·Mohsen Moradi DalvandYongmin Zhong
Jun 5, 2013·The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS·Mostafa HadavandFarzam Farahmand
Oct 31, 2013·The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS·Bummo AhnJung Kim
Oct 25, 2017·The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS·Saeed MansouriMostafa Rezayat
May 12, 2020·The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS·Golchehr AmirkhaniAlireza Mirbagheri

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