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E-raamat: Tactile Sensing and Displays: Haptic Feedback for Minimally Invasive Surgery and Robotics

(Amirkabir University of Technology, Tehran, Iran), (Helbling Precision Engineering Inc., USA), (Concordia University, Montreal, Canada), (Concordia University, Montreal, Canada)
  • Formaat: EPUB+DRM
  • Ilmumisaeg: 06-Nov-2012
  • Kirjastus: John Wiley & Sons Inc
  • Keel: eng
  • ISBN-13: 9781118357972
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Tactile Sensing and Displays: Haptic Feedback for Minimally Invasive Surgery and RoboticsSuurem pilt
  • Formaat: EPUB+DRM
  • Ilmumisaeg: 06-Nov-2012
  • Kirjastus: John Wiley & Sons Inc
  • Keel: eng
  • ISBN-13: 9781118357972
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"Comprehensively covers the key technologies for the development of tactile perception in minimally invasive surgery. Covering the timely topic of tactile sensing and display in minimally invasive and robotic surgery, this book comprehensively explores new techniques which could dramatically reduce the need for invasive procedures. The tools currently used in minimally invasive surgery (MIS) lack any sort of tactile sensing, significantly reducing the performance of these types of procedures. This book systematically explains the various technologies which the most prominent researchers have proposed to overcome the problem. Furthermore, the authors put forward their own findings, which have been published in recent patents and patent applications. Thesesolutions offer original and creative means of surmounting the current drawbacks of MIS and robotic surgery. Key features: Comprehensively covers topics of this ground-breaking technology including tactile sensing, force sensing, tactile display, PVDF fundamentals; Describes the mechanisms, methods and sensors that measure and display kinaesthetic and tactile data between a surgical tool and tissue. Written by authors at the cutting-edge of research into the area of tactile perception in minimally invasive surgery. Provides key topic for academic researchers, graduate students, as well as professionals working in the area"--Provided by publisher.



This reference comprehensively covers the key technologies for the development of tactile perception in minimally invasive surgery (MIS), including teletaction, tactic display, and intelligent tactile sensing.

Comprehensively covers the key technologies for the development of tactile perception in minimally invasive surgery

Covering the timely topic of tactile sensing and display in minimally invasive and robotic surgery, this book comprehensively explores new techniques which could dramatically reduce the need for invasive procedures. The tools currently used in minimally invasive surgery (MIS) lack any sort of tactile sensing, significantly reducing the performance of these types of procedures. This book systematically explains the various technologies which the most prominent researchers have proposed to overcome the problem. Furthermore, the authors put forward their own findings, which have been published in recent patents and patent applications. These solutions offer original and creative means of surmounting the current drawbacks of MIS and robotic surgery.

Key features:-

  • Comprehensively covers topics of this ground-breaking technology including tactile sensing, force sensing, tactile display, PVDF fundamentals
  • Describes the mechanisms, methods and sensors that measure and display kinaesthetic and tactile data between a surgical tool and tissue
  • Written by authors at the cutting-edge of research into the area of tactile perception in minimally invasive surgery
  • Provides key topic for academic researchers, graduate students as well as professionals working in the area
Preface xi
About the Authors xiii
1 Introduction to Tactile Sensing and Display
1(22)
1.1 Background
1(2)
1.2 Conventional and Modern Surgical Techniques
3(1)
1.3 Motivation
4(1)
1.4 Tactile Sensing
5(1)
1.5 Force Sensing
5(1)
1.6 Force Position
5(1)
1.7 Softness Sensing
6(1)
1.8 Lump Detection
7(1)
1.9 Tactile Sensing in Humans
8(1)
1.10 Haptic Sense
8(3)
1.10.1 Mechanoreception
8(3)
1.10.2 Proprioceptive Sense
11(1)
1.11 Tactile Display Requirements
11(1)
1.12 Minimally Invasive Surgery (MIS)
12(2)
1.12.1 Advantages/Disadvantages of MIS
13(1)
1.13 Robotics
14(3)
1.13.1 Robotic Surgery
17(1)
1.14 Applications
17(6)
References
18(5)
2 Tactile Sensing Technologies
23(14)
2.1 Introduction
23(2)
2.2 Capacitive Sensors
25(1)
2.3 Conductive Elastomer Sensors
25(1)
2.4 Magnetic-Based Sensors
26(1)
2.5 Optical Sensors
27(1)
2.6 MEMS-Based Sensors
28(1)
2.7 Piezoresistive Sensors
29(2)
2.7.1 Conductive Elastomers, Carbon, Felt, and Carbon Fibers
30(1)
2.8 Piezoelectric Sensors
31(6)
References
34(3)
3 Piezoelectric Polymers: PVDF Fundamentals
37(30)
3.1 Constitutive Equations of Crystals
37(5)
3.2 IEEE Notation
42(1)
3.3 Fundamentals of PVDF
43(1)
3.4 Mechanical Characterization of Piezoelectric Polyvinylidene Fluoride Films: Uniaxial and Biaxial
44(3)
3.4.1 The Piezoelectric Properties of Uniaxial and Biaxial PVDF Films
45(2)
3.5 The Anisotropic Property of Uniaxial PVDF Film and Its Influence on Sensor Applications
47(4)
3.6 The Anisotropic Property of Biaxial PVDF Film and Its Influence on Sensor Applications
51(1)
3.7 Characterization of Sandwiched Piezoelectric PVDF Films
51(2)
3.8 Finite Element Analysis of Sandwiched PVDF
53(6)
3.8.1 Uniaxial PVDF Film
55(3)
3.8.2 Biaxial PVDF Film
58(1)
3.9 Experiments
59(5)
3.9.1 Surface Friction Measurement
60(1)
3.9.2 Experiments Performed on Sandwiched PVDF for Different Surface Roughness
61(3)
3.10 Discussion and Conclusions
64(3)
References
65(2)
4 Design, Analysis, Fabrication, and Testing of Tactile Sensors
67(32)
4.1 Endoscopic Force Sensor: Sensor Design
68(9)
4.1.1 Modeling
68(3)
4.1.2 Sensor Fabrication
71(2)
4.1.3 Experimental Analysis
73(4)
4.2 Multi-Functional MEMS--Based Tactile Sensor: Design, Analysis, Fabrication, and Testing
77(22)
4.2.1 Sensor Design
77(4)
4.2.2 Finite Element Modeling
81(3)
4.2.3 Sensor Fabrication
84(8)
4.2.4 Sensor Assembly
92(1)
4.2.5 Testing and Validation: Softness Characterization
93(4)
References
97(2)
5 Bulk Softness Measurement Using a Smart Endoscopic Grasper
99(14)
5.1 Introduction
99(1)
5.2 Problem Definition
99(1)
5.3 Method
100(4)
5.4 Energy and Steepness
104(1)
5.5 Calibrating the Grasper
105(1)
5.6 Results and Discussion
106(7)
References
111(2)
6 Lump Detection
113(18)
6.1 Introduction
113(1)
6.2 Constitutive Equations for Hyperelasticity
113(4)
6.2.1 Hyperelastic Relationships in Uniaxial Loading
114(3)
6.3 Finite Element Modeling
117(2)
6.4 The Parametric Study
119(6)
6.4.1 The Effect of Lump Size
120(2)
6.4.2 The Effect of Depth
122(1)
6.4.3 The Effect of Applied Load
123(1)
6.4.4 The Effect of Lump Stiffness
124(1)
6.5 Experimental Validation
125(2)
6.6 Discussion and Conclusions
127(4)
References
128(3)
7 Tactile Display Technology
131(16)
7.1 The Coupled Nature of the Kinesthetic and Tactile Feedback
132(2)
7.2 Force-Feedback Devices
134(1)
7.3 A Review of Recent and Advanced Tactile Displays
134(13)
7.3.1 Electrostatic Tactile Displays for Roughness
134(2)
7.3.2 Rheological Tactile Displays for Softness
136(1)
7.3.3 Electromagnetic Tactile Displays (Shape Display)
137(1)
7.3.4 Shape Memory Alloy (SMA) Tactile Display (Shape)
138(1)
7.3.5 Piezoelectric Tactile Display (Lateral Skin Stretch)
138(2)
7.3.6 Air Jet Tactile Displays (Surface Indentation)
140(1)
7.3.7 Thermal Tactile Displays
141(1)
7.3.8 Pneumatic Tactile Displays (Shape)
142(1)
7.3.9 Electrocutaneous Tactile Displays
142(1)
7.3.10 Other Tactile Display Technologies
142(1)
References
143(4)
8 Grayscale Graphical Softness Tactile Display
147(24)
8.1 Introduction
147(1)
8.2 Graphical Softness Display
147(9)
8.2.1 Feedback System
148(1)
8.2.2 Sensor
148(2)
8.2.3 Data Acquisition System
150(1)
8.2.4 Signal Processing
150(5)
8.2.5 Results and Discussion
155(1)
8.3 Graphical Representation of a Lump
156(13)
8.3.1 Sensor Structure
157(1)
8.3.2 Rendering Algorithm
158(7)
8.3.3 Experiments
165(2)
8.3.4 Results and Discussion
167(2)
8.4 Summary and Conclusions
169(2)
References
169(2)
9 Minimally Invasive Robotic Surgery
171(14)
9.1 Robotic System for Endoscopic Heart Surgery
173(1)
9.2 da Vinci™ and Amadeus Composer™ Robot Surgical System
174(2)
9.3 Advantages and Disadvantages of Robotic Surgery
176(2)
9.4 Applications
178(3)
9.4.1 Practical Applications of Robotic Surgery Today
180(1)
9.5 The Future of Robotic Surgery
181(4)
References
182(3)
10 Teletaction
185(38)
10.1 Introduction
185(1)
10.2 Application Fields
186(5)
10.2.1 Telemedicine or in Absentia Health Care
186(1)
10.2.2 Telehealth or e--Health
187(1)
10.2.3 Telepalpation, Remote Palpation, or Artificial Palpation
187(2)
10.2.4 Telemanipulation
189(1)
10.2.5 Telepresence
190(1)
10.3 Basic Elements of a Teletaction System
191(1)
10.4 Introduction to Human Psychophysics
191(8)
10.4.1 Steven's Power Law
194(2)
10.4.2 Law of Asymptotic Linearity
196(1)
10.4.3 Law of Additivity
197(1)
10.4.4 General Law of Differential Sensitivity
198(1)
10.5 Psychophysics for Teletaction
199(9)
10.5.1 Haptic Object Recognition
199(5)
10.5.2 Identification of Spatial Properties
204(2)
10.5.3 Perception of Texture
206(1)
10.5.4 Control of Haptic Interfaces
206(2)
10.6 Basic Issues and Limitations of Teletaction Systems
208(1)
10.7 Applications of Teletaction
209(1)
10.8 Minimally Invasive and Robotic Surgery (MIS and MIRS)
209(3)
10.9 Robotics
212(1)
10.10 Virtual Environment
213(10)
References
215(8)
11 Teletaction Using a Linear Actuator Feedback-Based Tactile Display
223(22)
11.1 System Design
223(1)
11.2 Tactile Actuator
224(1)
11.3 Force Sensor
225(2)
11.4 Shaft Position Sensor
227(1)
11.5 Stress--Strain Curves
228(1)
11.6 PID Controller
228(9)
11.6.1 Linear Actuator Model
230(2)
11.6.2 Verifying the Identification Results
232(1)
11.6.3 Design of the PID Controller
233(4)
11.7 Processing Software
237(1)
11.8 Experiments
237(1)
11.9 Results and Discussion
238(3)
11.10 Summary and Conclusion
241(4)
References
244(1)
12 Clinical and Regulatory Challenges for Medical Devices
245(14)
12.1 Clinical Issues
245(2)
12.2 Regulatory Issues
247(4)
12.2.1 Medical Product Jurisdiction
248(1)
12.2.2 Types of Medical Devices
248(1)
12.2.3 Medical Device Classification
249(1)
12.2.4 Determining Device Classification
250(1)
12.3 Medical Device Approval Process
251(5)
12.3.1 Design Controls
252(1)
12.3.2 The 510 (K) Premarket Notifications
252(2)
12.3.3 The Premarket Approval Application
254(1)
12.3.4 The Quality System Regulation
255(1)
12.4 FDA Clearance of Robotic Surgery Systems
256(3)
References
256(3)
Index 259
Javad Dargahi, Associate Professor, Department of Mechanical & Industrial Engineering, Concordia University, Canada Dr. Dargahi received his PhD from Glasgow Caledonian University, Glasgow, in the area of "Robotic Tactile Sensing", in 1993. He joined Concordia University, as an Assistant Professor in the Department of Mechanical and Industrial Engineering, in September 2001. He received his tenure and was promoted to associate professor in June 2006. His research areas include: Design and fabrication of haptic sensors and feedback systems for minimally invasive surgery and robotics, micromachined sensors and actuators and teletaction. Dr. Dargahi has published 65 journal and 65 refereed conference papers.

Saeed Sokhanvar, Senior Project Engineer, Helbling Precision Engineering, USA Saeed Sokhanvar is Senior Project Engineer at Helbling Precision Engineering, Cambridge, MA. Before this he was a PostDoctoral Fellow at MIT. He has received many academic awards and co-authored multiple articles in refereed journals and conference proceedings.

Siamak Najarian, Professor, Biomedical Engineering, Amirkabir University of Technology, Iran Prof. S. Najarian is Full-Professor of Biomedical Engineering at Amirkabir University of Technology. He completed his PhD in Biomedical Engineering at Oxford University, and had a post-doctoral position at the same university for one year. His research interests are the applications of artificial tactile sensing (especially in robotic surgery), mechatronics in biological systems, and design of artificial organs. He is the author and translator of 26 books in the field of biomedical engineering, 9 of which are written in English. Prof. Najarian has published more than 170 international journal and conference papers in the field of biomedical engineering along with two international books in the same field.
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