Abstract
Minimally invasive surgery is increasingly used in many medical operations because of the benefits for the patients. However, for the surgeons, accessing the situs through a small incision or natural orifice comes with a reduction of the degrees of freedom of the instrument. Due to friction of the mechanical coupling, the haptic feedback lacks sensitivity that could lead to damage of the tissue. The approach of this work to overcome these problems is to develop a control concept for position control and force estimation with shape memory alloys (SMA) which could offer haptic feedback in a novel handheld instrument. The concept aims to bridge the gap between manually actuated laparoscopic instruments and surgical robots. Nickel-titanium shape memory alloys are used for actuation because of their high specific energy density. The work includes the manufacturing of a functional model as a proof of concept comprising the development of a suitable forceps mechanism and electronic circuit for position control and gripping force measurement, as well as designing an ergonomic user interface with haptic force feedback.
Highlights
Complete closing as well as opening the forceps takes about one second, which is slower than what is possible on manually actuated instruments, but considered sufficient by surgeons interviewed in the development process
When an object is gripped, the haptic feedback is activated after a delay of about one second, which involves the risk of damaging tissue
This work adressed the need for haptic feedback in handheld electrically actuated instruments for Minimally invasive surgery (MIS)
Summary
State of the Art. Minimally invasive surgery (MIS) is characterized by using long, narrow instruments to operate through natural orifices or small incisions [1]. Cost for instruments and durations of surgical procedures are increased compared to open surgery, the shorter period of hospitalization can reduce the total cost for MIS [6]. For the surgeons, many disadvantages result from the surgical requirements and the design of currently availably instruments. Digitalization is already taking place in the development of surgical instruments and there is an increased use of robotic surgery. During this transformation, away from highly complex mechanically actuated instruments, not all requirements have already been
Sign-in/Register to view highlights & summary Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
