Affiliations: Biomedical Engineering, Artificial Tactile Sensing and Robotic Surgery Laboratory, Faculty of Biomedical Engineering, Amirkabir University of Technology, Tehran, Iran | Associate Professor of Vascular Surgery, Sina Trauma and Surgery Research Center, Tehran University of Medical Sciences, Tehran, Iran
Note: [] Address for correspondence: Siamak Najarian, Artificial Tactile Sensing and Robotic Surgery Laboratory, Faculty of Biomedical Engineering, Amirkabir University of Technology (Tehran Polytechnic), No. 424, Hafez Ave., P.O. Box 15875-4413, Tehran, Iran. Tel.: +9821 6454 2378; Fax: +9821 8848 8186; E-mail: najarian@aut.ac.ir
Abstract: Artificial palpation is one of the most valuable achievements of artificial tactile sensing approach that can be used in various fields of medicine and more specifically in surgery. These techniques cause different surgical maneuvers to be done more precisely and noninvasively. In this study, considering the present problems and limitations of cross-clamping an artery during laparoscopic vascular surgeries, a new tactile sensory system will be introduced. Having imitated surgeon's palpation during open vascular surgeries and modeled it conceptually, the optimal amount of the total angular displacement of each robot joint in order to cross-clamping an artery without damaging to the artery surrounding tissues will be calculated. The elastic governing equation of contact occurred between the tactile sensor placed on the first link of the robot and the surrounding tissues around the artery were developed. A finite element model is coupled with genetic algorithm optimization method so that the normal stress and displacements in contact surface of the robot and artery's surrounding tissues would be minimized. Thus, reliability and accuracy of artificial tactile sensing method in artery cross-clamping will be demonstrated. Finally, the functional principles of the new tactile system capable of cross-clamping an artery during laparoscopic surgeries will be presented.
