A Smart Laparoscopic Instrument with Different Applications
The main target of everyone engineering work associated with minimally-invasive surgery is to provide adequate tool-tissue force information to the surgeons so that they can regain the sense of touch that has been lost through laparoscopic surgery. In this context the main objective of the work desi...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Bulgarian Academy of Sciences
2020-12-01
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| Series: | International Journal Bioautomation |
| Subjects: | |
| Online Access: | http://www.biomed.bas.bg/bioautomation/2020/vol_24.4/files/24.4_08.pdf |
| _version_ | 1818438639696216064 |
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| author | Veronika Ivanova Ditchko Batchvarov Ani Boneva |
| author_facet | Veronika Ivanova Ditchko Batchvarov Ani Boneva |
| author_sort | Veronika Ivanova |
| collection | DOAJ |
| description | The main target of everyone engineering work associated with minimally-invasive surgery is to provide adequate tool-tissue force information to the surgeons so that they can regain the sense of touch that has been lost through laparoscopic surgery. In this context the main objective of the work design novel family laparoscopic tools with better technical characteristics, and incorporation of force and other sensors and elements in construction of tools for restore sense of touch in the process of laparoscopy. Thus it is improving some technical side of this laparoscopic instruments. In contrast to daVinchi robots by Intuitive Surgical Incorporation which instruments are designed for manipulation and imaging we offer family tools with additional functions such as diagnosis and therapeutics tasks. Therefore we decide two main problems: i) we designed and produced an original construction of an adequate experimental module for robots, where was incorporated two force sensors to provide tool-tissue information (some of which was described and discussed at previous works); and ii) we realized hardware and program resources for control and monitoring of this module which is the object of this work. The computer program includes information about various measurements of the tip tool – surface contact interactions and data obtained from the experimental module that is used to find the difference between date from previous measuring and received information in real time. Another signification advantage of the proposed program solution is the graphical visualization of the measuring and comparing the results. Therefore, the surgeon can give the adequate command to force interaction between the instrument and tissue. For verification of the functionality and working capacity of the experimental module with force feedback capabilities for robots were conducted different experiments with the designed control system. |
| first_indexed | 2024-12-14T17:43:46Z |
| format | Article |
| id | doaj.art-9aaf8baddbd14def9feff38da21bf01f |
| institution | Directory Open Access Journal |
| issn | 1314-1902 1314-2321 |
| language | English |
| last_indexed | 2024-12-14T17:43:46Z |
| publishDate | 2020-12-01 |
| publisher | Bulgarian Academy of Sciences |
| record_format | Article |
| series | International Journal Bioautomation |
| spelling | doaj.art-9aaf8baddbd14def9feff38da21bf01f2022-12-21T22:52:47ZengBulgarian Academy of SciencesInternational Journal Bioautomation1314-19021314-23212020-12-0124440341710.7546/ijba.2020.24.4.000723A Smart Laparoscopic Instrument with Different ApplicationsVeronika Ivanova0Ditchko BatchvarovAni BonevaInstitute of Robotics, Bulgarian Academy of Sciences, 1113 Sofia, BulgariaThe main target of everyone engineering work associated with minimally-invasive surgery is to provide adequate tool-tissue force information to the surgeons so that they can regain the sense of touch that has been lost through laparoscopic surgery. In this context the main objective of the work design novel family laparoscopic tools with better technical characteristics, and incorporation of force and other sensors and elements in construction of tools for restore sense of touch in the process of laparoscopy. Thus it is improving some technical side of this laparoscopic instruments. In contrast to daVinchi robots by Intuitive Surgical Incorporation which instruments are designed for manipulation and imaging we offer family tools with additional functions such as diagnosis and therapeutics tasks. Therefore we decide two main problems: i) we designed and produced an original construction of an adequate experimental module for robots, where was incorporated two force sensors to provide tool-tissue information (some of which was described and discussed at previous works); and ii) we realized hardware and program resources for control and monitoring of this module which is the object of this work. The computer program includes information about various measurements of the tip tool – surface contact interactions and data obtained from the experimental module that is used to find the difference between date from previous measuring and received information in real time. Another signification advantage of the proposed program solution is the graphical visualization of the measuring and comparing the results. Therefore, the surgeon can give the adequate command to force interaction between the instrument and tissue. For verification of the functionality and working capacity of the experimental module with force feedback capabilities for robots were conducted different experiments with the designed control system.http://www.biomed.bas.bg/bioautomation/2020/vol_24.4/files/24.4_08.pdfrobot systemtherapeutics tasksdesigned control system |
| spellingShingle | Veronika Ivanova Ditchko Batchvarov Ani Boneva A Smart Laparoscopic Instrument with Different Applications International Journal Bioautomation robot system therapeutics tasks designed control system |
| title | A Smart Laparoscopic Instrument with Different Applications |
| title_full | A Smart Laparoscopic Instrument with Different Applications |
| title_fullStr | A Smart Laparoscopic Instrument with Different Applications |
| title_full_unstemmed | A Smart Laparoscopic Instrument with Different Applications |
| title_short | A Smart Laparoscopic Instrument with Different Applications |
| title_sort | smart laparoscopic instrument with different applications |
| topic | robot system therapeutics tasks designed control system |
| url | http://www.biomed.bas.bg/bioautomation/2020/vol_24.4/files/24.4_08.pdf |
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