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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
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]