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Tactile Feedbck in Minimally Invasive Robotic Surgery with the Use of Strain Gauges = Rétroaction tactile en chirurgie robotique minimalement invasive avec l'utilisation de jauges de détente /

Record Type:	Language materials, printed : Monograph/item
Title/Author:	Tactile Feedbck in Minimally Invasive Robotic Surgery with the Use of Strain Gauges/ Dema Nua Govalla.
Reminder of title:	Rétroaction tactile en chirurgie robotique minimalement invasive avec l'utilisation de jauges de détente /
Author:	Govalla, Dema Nua,
Description:	1 electronic resource (69 pages)
Notes:	Source: Masters Abstracts International, Volume: 82-12.
Contained By:	Masters Abstracts International82-12.
Subject:	Computer engineering. -
Online resource:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=28419294
ISBN:	9798738647925

Tactile Feedbck in Minimally Invasive Robotic Surgery with the Use of Strain Gauges = Rétroaction tactile en chirurgie robotique minimalement invasive avec l'utilisation de jauges de détente /
Govalla, Dema Nua,

Tactile Feedbck in Minimally Invasive Robotic Surgery with the Use of Strain GaugesRétroaction tactile en chirurgie robotique minimalement invasive avec l'utilisation de jauges de détente / [eletronic resource] =Dema Nua Govalla. - 1 electronic resource (69 pages)

Source: Masters Abstracts International, Volume: 82-12.

The ability to perceive tactile feedback in minimally invasive robotic surgery (MIRS) is beneficial for a surgeon in the operation room. Surgeons benefit from tactile feedback because it grants them the ability to obtain the object and environmental information. In MIRS, this will contribute to a surgeon being able to feel organ tissue hardness and softness, evaluate anatomical structures, and measure tissue properties. Consequently, giving the surgeon tactile feedback enhances the efficiency and safety of performing robotic surgery by decreasing vital organ tissue damage and tissue trauma. Unfortunately, there is currently no commercial system that implements such feedback in MIRS.This paper proposes a method for surgeons to acquire tactile feedback during surgery, specifically detecting tissues or organs' deformation. The technique used consists of two strain gauges that are installed to the outer jaws of scissors forceps. This prototype is used to replicate the jaw of a robotic instrument grasper similar to the one used on the state-of-the-art da Vinci Surgical System. The strain gauges are then used to detect the softness and hardness by closing the prototype's jaws and measuring three attributes used to differentiate between an object's hardness. The attributes are used to build the software design, a fuzzy classification system (FCS). The FCS classification system is used to classify objects into five different deformation categories: very soft, soft, medium, hard, and very hard. The FCS is tested using testing data to prove that the proposed method is feasible.

English

ISBN: 9798738647925Subjects--Topical Terms:

569006
Computer engineering.
Subjects--Index Terms:

Fuzzy classification

Tactile Feedbck in Minimally Invasive Robotic Surgery with the Use of Strain Gauges = Rétroaction tactile en chirurgie robotique minimalement invasive avec l'utilisation de jauges de détente /
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500 $a Advisors: Rozenblit, Jerzy W. Committee members: Adegbija, Tosiron; Roveda, Janet.
502 $b M.S. $c The University of Arizona $d 2021.
520 # $a The ability to perceive tactile feedback in minimally invasive robotic surgery (MIRS) is beneficial for a surgeon in the operation room. Surgeons benefit from tactile feedback because it grants them the ability to obtain the object and environmental information. In MIRS, this will contribute to a surgeon being able to feel organ tissue hardness and softness, evaluate anatomical structures, and measure tissue properties. Consequently, giving the surgeon tactile feedback enhances the efficiency and safety of performing robotic surgery by decreasing vital organ tissue damage and tissue trauma. Unfortunately, there is currently no commercial system that implements such feedback in MIRS.This paper proposes a method for surgeons to acquire tactile feedback during surgery, specifically detecting tissues or organs' deformation. The technique used consists of two strain gauges that are installed to the outer jaws of scissors forceps. This prototype is used to replicate the jaw of a robotic instrument grasper similar to the one used on the state-of-the-art da Vinci Surgical System. The strain gauges are then used to detect the softness and hardness by closing the prototype's jaws and measuring three attributes used to differentiate between an object's hardness. The attributes are used to build the software design, a fuzzy classification system (FCS). The FCS classification system is used to classify objects into five different deformation categories: very soft, soft, medium, hard, and very hard. The FCS is tested using testing data to prove that the proposed method is feasible.
520 3 $a La capacité de percevoir la rétroaction tactile dans la chirurgie robotique mini-invasive (MIRS) est bénéfique pour un chirurgien dans la salle d'opération. Les chirurgiens bénéficient d'un retour tactile car cela leur donne la possibilité d'obtenir des informations sur l'objet et l'environnement. Dans MIRS, cela permettra au chirurgien de ressentir la dureté et la douceur des tissus organiques, d'évaluer les structures anatomiques et de mesurer les propriétés des tissus. Par conséquent, donner au chirurgien une rétroaction tactile améliore l'efficacité et la sécurité de l'exécution de la chirurgie robotique en diminuant les dommages aux tissus des organes vitaux et les traumatismes tissulaires. Malheureusement, il n'existe actuellement aucun système commercial qui implémente un tel retour d'information dans MIRS.Cet article propose une méthode permettant aux chirurgiens d'acquérir une rétroaction tactile pendant la chirurgie, en détectant spécifiquement la déformation des tissus ou des organes. La technique utilisée consiste en deux jauges de contrainte qui sont installées sur les mâchoires extérieures des pinces à ciseaux. Ce prototype est utilisé pour reproduire la mâchoire d'une pince d'instrument robotique similaire à celle utilisée sur le système chirurgical de pointe da Vinci. Les jauges de contrainte sont ensuite utilisées pour détecter la douceur et la dureté en fermant les mâchoires du prototype et en mesurant trois attributs utilisés pour différencier la dureté d'un objet. Les attributs sont utilisés pour construire la conception du logiciel, un système de classification floue (FCS). Le système de classification FCS est utilisé pour classer les objets en cinq catégories de déformation différentes: très souple, douce, moyenne, dure et très dure. Le FCS est testé à l'aide de données de test pour prouver que la méthode proposée est faisable.
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653 # # $a Minimally invasive robotic Surgery
653 # # $a Strain gauge
653 # # $a Tactile feedback
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