Micromechatronics in surgery

Carrozza, M.C.; Dario, P.; Jay, Louis Phee Soo

doi:10.1191/0142331203tm089oa

Cited by 26 publications

(13 citation statements)

References 40 publications

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“…In order to achieve higher spatial resolution, researchers have developed tools such as micro-grippers, micro-tweezers, micro-forceps and micro-scissors with the aid of microfabrication techniques [130,131]. Recently, thermally actuated grippers capable of grasping micron sized objects have been developed for use in ophthalmic surgery wherein they could be used within the small volume of the eye [132].…”

Section: Surgical Applicationsmentioning

confidence: 99%

BioMEMS –Advancing the Frontiers of Medicine

James

Mannoor

Ivanov

2008

Sensors

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Biological and medical application of micro-electro-mechanical-systems (MEMS) is currently seen as an area of high potential impact. Integration of biology and microtechnology has resulted in the development of a number of platforms for improving biomedical and pharmaceutical technologies. This review provides a general overview of the applications and the opportunities presented by MEMS in medicine by classifying these platforms according to their applications in the medical field.

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Section: Surgical Applicationsmentioning

confidence: 99%

BioMEMS –Advancing the Frontiers of Medicine

James

Mannoor

Ivanov

2008

Sensors

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“…This, along with the mechanical assemblies associated with the actuation and locomotion mechanisms, limit the minimal size of such devices to the cm-range and above, and hinder the possibilities for further miniaturization to smaller scales. Miniaturization is often required for applications in which access is limited, for example in the medical field [7], or for rescue missions after natural disasters [8].…”

Section: Introductionmentioning

confidence: 99%

Self-propagating miniature device based on shape memory alloy

2018

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The development of novel locomotion mechanisms is beneficial for advancing the field of selfpropagating devices, which are implemented in various civilian and military applications. In this work, we present a purely mechanic, mm-sized autonomous device capable of linear propagation on a smooth, relatively flat surface. The locomotion mechanism is driven by a shape memory alloy (SMA) wire that is connected to a metallic, ring-shaped, bias spring. Periodic changes in the temperature in the vicinity of the device activate the SMA wire, and result in alternating contraction-elongation deformations of the SMA-bias spring assembly. These deformations are transferred to a linear back and forth motion of small legs that are attached at the bottom of the ring. To generate locomotion, the general conditions for obtaining asymmetric friction between needle shaped legs and a smooth surface were formulated and validated experimentally. The structure and performance of the device are modeled analytically leading to basic design rules that are validated experimentally by real-time optical tracking of the device's displacements and propagation. In addition, the potential of miniaturization of the presented locomotion concept down to the micro-meter scale is demonstrated.

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“…With the invention of medical robots like the Da Vinci [2] surgical systems, clinicians are now able to maneuver surgical tools accurately and easily within the human body [3].…”

Section: Introductionmentioning

confidence: 99%

Master and Slave Robotic System For Natural Orifice Transluminal Endoscopic Surgery

Kencana

Phee

Low

et al. 2008

2008 IEEE Conference on Robotics, Automation and Mechatronics

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Natural Orifice Transluminal Endoscopic Surgery (NOTES) is a surgical technique that performs operation to the patient by using an endoscope which passed through the natural orifice in the body then through an incision internally thus avoiding any external incisions or scars. The potential advantages are reduced usage of anesthesia, faster pain and recovery leaving the patient with no visible scars on the body. A major hurdle for NOTES is the difficulty in maneuvering accessories, which can only be moved in one plane in relation to the endoscope. A robotic manipulator was designed for endoscopic use which can simulate the movements of the human upper limbs. The system consists of a master, a telesurgical workstation, and a slave manipulator. Complex and intricate maneuvers such as grasping, retraction and cutting can be effortlessly reproduced. This system has been used in bench and in vivo pig experiments Compared with robotic manipulators for Minimally Invasive Surgery, almost the whole length of the robotic manipulator is flexible and therefore making it capable to follow the endoscope through the natural orifice of the human body.

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Micromechatronics in surgery

Cited by 26 publications

References 40 publications

BioMEMS –Advancing the Frontiers of Medicine

BioMEMS –Advancing the Frontiers of Medicine

Self-propagating miniature device based on shape memory alloy

Master and Slave Robotic System For Natural Orifice Transluminal Endoscopic Surgery

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