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Deep Learning-Based Haptic Guidance for Surgical Skills Transfer.

Author(s): Fekri P, Dargahi J, Zadeh M

Having a trusted and useful system that helps to diminish the risk of medical errors and facilitate the improvement of quality in the medical education is indispensable. Thousands of surgical errors are occurred annually with high adverse event rate, despit...

Article GUID: 33553246
Toward Task Autonomy in Robotic Cardiac Ablation: Learning-Based Kinematic Control of Soft Tendon-Driven Catheters.

Author(s): Jolaei M, Hooshiar A, Dargahi J, Packirisamy M

Soft Robot. 2020 Jul 14;: Authors: Jolaei M, Hooshiar A, Dargahi J, Packirisamy M

Article GUID: 32678722
Development and assessment of a stiffness display system for minimally invasive surgery based on smart magneto-rheological elastomers.

Author(s): Hooshiar A, Alkhalaf A, Dargahi J

Mater Sci Eng C Mater Biol Appl. 2020 Mar;108:110409 Authors: Hooshiar A, Alkhalaf A, Dargahi J

Article GUID: 31924050
Flow force augmented 3D suspended polymeric microfluidic (SPMF3 ) platform.

Author(s): Marzban M, Dargahi J, Packirisamy M

Electrophoresis. 2019 Feb;40(3):388-400 Authors: Marzban M, Dargahi J, Packirisamy M

Article GUID: 30025169
Title:Development and assessment of a stiffness display system for minimally invasive surgery based on smart magneto-rheological elastomers.
Authors:Hooshiar A,  Alkhalaf A,  Dargahi J
Link:https://www.ncbi.nlm.nih.gov/pubmed/31924050?dopt=Abstract
DOI:10.1016/j.msec.2019.110409
Category:Mater Sci Eng C Mater Biol Appl
PMID:31924050
Dept Affiliation: ENCS
1 Mehchanical, Industrial, and Aerospace Engineering Dept., Concordia University, 1515 Saint-Catherine St W, Montreal, QC H3G 2W1, Canada. Electronic address: s_hooshi@encs.concordia.ca.
2 Mehchanical, Industrial, and Aerospace Engineering Dept., Concordia University, 1515 Saint-Catherine St W, Montreal, QC H3G 2W1, Canada.
3 Mehchanical, Industrial, and Aerospace Engineering Dept., Concordia University, 1515 Saint-Catherine St W, Montreal, QC H3G 2W1, Canada. Electronic address: http://www.robosurgelab.com.

Description:

Development and assessment of a stiffness display system for minimally invasive surgery based on smart magneto-rheological elastomers.

Mater Sci Eng C Mater Biol Appl. 2020 Mar;108:110409

Authors: Hooshiar A, Alkhalaf A, Dargahi J

Abstract

In the present study, a solution to address the clinical need for stiffness display during manual and robotic minimally invasive surgery was postulated, developed, and assessed. To this end, a magneto-rheological elastomer-based stiffness display, MiTouch, was designed, developed, and analyzed. The mechanical properties of the MRE and system parameters were identified experimentally, based on which the force-field-stiffness response surface of the smart MRE was characterized. Based on the response surface, a stiffness controller was designed and verified for a set of performance requirements. A heartbeat simulation experiment showed the capability of the system for replicating desired tactile forces through stiffness control. Also, the system successfully attained an arbitrarily selected stiffness (4 N/mm) and maintained it within a bounded range (4.07 ± 0.41 N/mm). A comparison of the system performance with current literature validated its applicability for the proposed medical application.

PMID: 31924050 [PubMed - in process]