Design and development of a non-contact robotic gripper for tissue manipulation in minimally invasive surgery

Basit Öğe Kaydı
dc.authorscopusid57210637678
dc.authorscopusid55920264900
dc.contributor.authorErtürk, Ş.
dc.contributor.authorErzincanlı, F.
dc.date.accessioned2021-12-01T18:38:59Z
dc.date.available2021-12-01T18:38:59Z
dc.date.issued2020
dc.department[Belirlenecek]en_US
dc.description.abstractThis paper describes the design and testing of a gripper developed for handling of delicate and flexible tissues during minimally invasive surgery. The device operates on the Bernoulli principle for generating hight-speed flow between the gripper and product surface threby creating vacuum which lifted the product. The Bernoulli gripper, which is widely employed in automated production lines, is a pneumatic manipulator capable of non contact gripping. This study experimentally investigates the applicable of Bernoulli gripper in minimally invasive surgery. The gripper allow tissues to be lifted with minimal contact thereby reducing the possibility of damaging the object. Most of the roobot grippers are not easily applicable in minimal invasive surgery due to the tissues are often delicate, easily damaged, adhesive and slippery. Due to surgeons can not gauging the force exerted on the grasped tissue during laparoscopic grasping, excessive grasp forces may lead to tissue damage. Although Minimally invasive surgery has many benefit, force feedback or touch sensation is limited during th operation in the currently available tools, creating the potential for excessive force application and unintended tissue injury. To overcome such problems, this paper proposes a concept to enable the use of non-contact grippers instead of traditional grippers. In this paper, an innovative approach of a gripper for grasping variable in sizes, shape and weight of chicken tissues are presented. The experimental results show that the Bernoulli principle gripper can be used to lift tissues of different texture and shape without damage. The main objective of this study is to highlights the importance of a non-contact end effector in Minimally invasive surgery and develop a gripper to grasp different tissues. A novel gripper such as the tested prototype has the potential to be used as grasper instrument in minimally invasive surgery. The results will be valuable for literature and future works. (www.actabiomedica.it). © Mattioli 1885.en_US
dc.identifier.doi10.23750/abm.v91i3.8129
dc.identifier.endpage7en_US
dc.identifier.issn03924203
dc.identifier.issue3en_US
dc.identifier.pmid32921769en_US
dc.identifier.scopus2-s2.0-85090872974en_US
dc.identifier.scopusqualityQ3en_US
dc.identifier.startpage1en_US
dc.identifier.urihttps://doi.org/10.23750/abm.v91i3.8129
dc.identifier.urihttps://hdl.handle.net/20.500.12684/9953
dc.identifier.volume91en_US
dc.indekslendigikaynakScopusen_US
dc.indekslendigikaynakPubMeden_US
dc.language.isoenen_US
dc.publisherMattioli 1885en_US
dc.relation.ispartofActa Biomedicaen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectBernoulli gripperen_US
dc.subjectMinimal invasive surgeryen_US
dc.subjectNon-contact handlingen_US
dc.subjectRadial flowen_US
dc.subjectTissue damagen_US
dc.titleDesign and development of a non-contact robotic gripper for tissue manipulation in minimally invasive surgeryen_US
dc.typeArticleen_US

Dosyalar

Orijinal paket
Listeleniyor 1 - 1 / 1
Küçük Resim Yok
İsim:
9953.pdf
Boyut:
4.38 MB
Biçim:
Adobe Portable Document Format
Açıklama:
Tam Metin / Full Text
İndir

Koleksiyon

Scopus İndeksli Yayınlar Koleksiyonu
PubMed İndeksli Yayınlar Koleksiyonu