Javad Dargahi, Saeed Sokhanvar, Siamak Najarian, Siamak Arbatani

Tactile Sensing and Displays

Haptic Feedback for Minimally Invasive Surgery and Robotics
Mitarbeit: Dargahi, Javad; Sokhanvar, Saeed; Najarian, Siamak; Arbatani, Siamak

• Gebundenes Buch

Produktbeschreibung

Comprehensively covers the key technologies for the development of tactile perception in minimally invasive surgery

Covering the timely topic of tactile sensing and display in minimally invasive and robotic surgery, this book comprehensively explores new techniques which could dramatically reduce the need for invasive procedures. The tools currently used in minimally invasive surgery (MIS) lack any sort of tactile sensing, significantly reducing the performance of these types of procedures. This book systematically explains the various technologies which the most prominent researchers have proposed to overcome the problem. Furthermore, the authors put forward their own findings, which have been published in recent patents and patent applications. These solutions offer original and creative means of surmounting the current drawbacks of MIS and robotic surgery.

Key features:-
Comprehensively covers topics of this ground-breaking technology including tactile sensing, force sensing, tactile display, PVDF fundamentals
Describes the mechanisms, methods and sensors that measure and display kinaesthetic and tactile data between a surgical tool and tissue
Written by authors at the cutting-edge of research into the area of tactile perception in minimally invasive surgery
Provides key topic for academic researchers, graduate students as well as professionals working in the area

Produktdetails

• Verlag: Wiley & Sons
• 1. Auflage
• Seitenzahl: 288
• Erscheinungstermin: 17. Dezember 2012
• Englisch
• Abmessung: 251mm x 172mm x 20mm
• Gewicht: 609g
• ISBN-13: 9781119972495
• ISBN-10: 1119972493
• Artikelnr.: 35676570

Autorenporträt

Javad Dargahi, Associate Professor, Department of Mechanical & Industrial Engineering, Concordia University, Canada Dr. Dargahi received his PhD from Glasgow Caledonian University, Glasgow, in the area of "Robotic Tactile Sensing", in 1993. He joined Concordia University, as an Assistant Professor in the Department of Mechanical and Industrial Engineering, in September 2001. He received his tenure and was promoted to associate professor in June 2006. His research areas include: Design and fabrication of haptic sensors and feedback systems for minimally invasive surgery and robotics, micromachined sensors and actuators and teletaction. Dr. Dargahi has published 65 journal and 65 refereed conference papers. Saeed Sokhanvar, Senior Project Engineer, Helbling Precision Engineering, USA Saeed Sokhanvar is Senior Project Engineer at Helbling Precision Engineering, Cambridge, MA. Before this he was a PostDoctoral Fellow at MIT. He has received many academic awards and co-authored multiple articles in refereed journals and conference proceedings. Siamak Najarian, Professor, Biomedical Engineering, Amirkabir University of Technology, Iran Prof. S. Najarian is Full-Professor of Biomedical Engineering at Amirkabir University of Technology. He completed his PhD in Biomedical Engineering at Oxford University, and had a post-doctoral position at the same university for one year. His research interests are the applications of artificial tactile sensing (especially in robotic surgery), mechatronics in biological systems, and design of artificial organs. He is the author and translator of 26 books in the field of biomedical engineering, 9 of which are written in English. Prof. Najarian has published more than 170 international journal and conference papers in the field of biomedical engineering along with two international books in the same field.

Inhaltsangabe

Preface xi About the Authors xiii 1 Introduction to Tactile Sensing and
Display 1 1.1 Background 1 1.2 Conventional and Modern Surgical Techniques
3 1.3 Motivation 4 1.4 Tactile Sensing 5 1.5 Force Sensing 5 1.6 Force
Position 5 1.7 Softness Sensing 6 1.8 Lump Detection 7 1.9 Tactile Sensing
in Humans 8 1.10 Haptic Sense 8 1.10.1 Mechanoreception 8 1.10.2
Proprioceptive Sense 11 1.11 Tactile Display Requirements 11 1.12 Minimally
Invasive Surgery (MIS) 12 1.12.1 Advantages/Disadvantages of MIS 13 1.13
Robotics 14 1.13.1 Robotic Surgery 17 1.14 Applications 17 References 18 2
Tactile Sensing Technologies 23 2.1 Introduction 23 2.2 Capacitive Sensors
25 2.3 Conductive Elastomer Sensors 25 2.4 Magnetic-Based Sensors 26 2.5
Optical Sensors 27 2.6 MEMS-Based Sensors 28 2.7 Piezoresistive Sensors 29
2.7.1 Conductive Elastomers, Carbon, Felt, and Carbon Fibers 30 2.8
Piezoelectric Sensors 31 References 34 3 Piezoelectric Polymers: PVDF
Fundamentals 37 3.1 Constitutive Equations of Crystals 37 3.2 IEEE Notation
42 3.3 Fundamentals of PVDF 43 3.4 Mechanical Characterization of
Piezoelectric Polyvinylidene Fluoride Films: Uniaxial and Biaxial 44 3.4.1
The Piezoelectric Properties of Uniaxial and Biaxial PVDF Films 45 3.5 The
Anisotropic Property of Uniaxial PVDF Film and Its Influence on Sensor
Applications 47 3.6 The Anisotropic Property of Biaxial PVDF Film and Its
Influence on Sensor Applications 51 3.7 Characterization of Sandwiched
Piezoelectric PVDF Films 51 3.8 Finite Element Analysis of Sandwiched PVDF
53 3.8.1 Uniaxial PVDF Film 55 3.8.2 Biaxial PVDF Film 58 3.9 Experiments
59 3.9.1 Surface Friction Measurement 60 3.9.2 Experiments Performed on
Sandwiched PVDF for Different Surface Roughness 61 3.10 Discussion and
Conclusions 64 References 65 4 Design, Analysis, Fabrication, and Testing
of Tactile Sensors 67 4.1 Endoscopic Force Sensor: Sensor Design 68 4.1.1
Modeling 68 4.1.2 Sensor Fabrication 71 4.1.3 Experimental Analysis 73 4.2
Multi-Functional MEMS-Based Tactile Sensor: Design, Analysis, Fabrication,
and Testing 77 4.2.1 Sensor Design 77 4.2.2 Finite Element Modeling 81
4.2.3 Sensor Fabrication 84 4.2.4 Sensor Assembly 92 4.2.5 Testing and
Validation: Softness Characterization 93 References 97 5 Bulk Softness
Measurement Using a Smart Endoscopic Grasper 99 5.1 Introduction 99 5.2
Problem Definition 99 5.3 Method 100 5.4 Energy and Steepness 104 5.5
Calibrating the Grasper 105 5.6 Results and Discussion 106 References 111 6
Lump Detection 113 6.1 Introduction 113 6.2 Constitutive Equations for
Hyperelasticity 113 6.2.1 Hyperelastic Relationships in Uniaxial Loading
114 6.3 Finite Element Modeling 117 6.4 The Parametric Study 119 6.4.1 The
Effect of Lump Size 120 6.4.2 The Effect of Depth 122 6.4.3 The Effect of
Applied Load 123 6.4.4 The Effect of Lump Stiffness 124 6.5 Experimental
Validation 125 6.6 Discussion and Conclusions 127 References 128 7 Tactile
Display Technology 131 7.1 The Coupled Nature of the Kinesthetic and
Tactile Feedback 132 7.2 Force-Feedback Devices 134 7.3 A Review of Recent
and Advanced Tactile Displays 134 7.3.1 Electrostatic Tactile Displays for
Roughness 134 7.3.2 Rheological Tactile Displays for Softness 136 7.3.3
Electromagnetic Tactile Displays (Shape Display) 137 7.3.4 Shape Memory
Alloy (SMA) Tactile Display (Shape) 138 7.3.5 Piezoelectric Tactile Display
(Lateral Skin Stretch) 138 7.3.6 Air Jet Tactile Displays (Surface
Indentation) 140 7.3.7 Thermal Tactile Displays 141 7.3.8 Pneumatic Tactile
Displays (Shape) 142 7.3.9 Electrocutaneous Tactile Displays 142 7.3.10
Other Tactile Display Technologies 142 References 143 8 Grayscale Graphical
Softness Tactile Display 147 8.1 Introduction 147 8.2 Graphical Softness
Display 147 8.2.1 Feedback System 148 8.2.2 Sensor 148 8.2.3 Data
Acquisition System 150 8.2.4 Signal Processing 150 8.2.5 Results and
Discussion 155 8.3 Graphical Representation of a Lump 156 8.3.1 Sensor
Structure 157 8.3.2 Rendering Algorithm 158 8.3.3 Experiments 165 8.3.4
Results and Discussion 167 8.4 Summary and Conclusions 169 References 169 9
Minimally Invasive Robotic Surgery 171 9.1 Robotic System for Endoscopic
Heart Surgery 173 9.2 da Vinci(TM) and Amadeus Composer(TM) Robot Surgical
System 174 9.3 Advantages and Disadvantages of Robotic Surgery 176 9.4
Applications 178 9.4.1 Practical Applications of Robotic Surgery Today 180
9.5 The Future of Robotic Surgery 181 References 182 10 Teletaction 185
10.1 Introduction 185 10.2 Application Fields 186 10.2.1 Telemedicine or in
Absentia Health Care 186 10.2.2 Telehealth or e-Health 187 10.2.3
Telepalpation, Remote Palpation, or Artificial Palpation 187 10.2.4
Telemanipulation 189 10.2.5 Telepresence 190 10.3 Basic Elements of a
Teletaction System 191 10.4 Introduction to Human Psychophysics 191 10.4.1
Steven's Power Law 194 10.4.2 Law of Asymptotic Linearity 196 10.4.3 Law of
Additivity 197 10.4.4 General Law of Differential Sensitivity 198 10.5
Psychophysics for Teletaction 199 10.5.1 Haptic Object Recognition 199
10.5.2 Identification of Spatial Properties 204 10.5.3 Perception of
Texture 206 10.5.4 Control of Haptic Interfaces 206 10.6 Basic Issues and
Limitations of Teletaction Systems 208 10.7 Applications of Teletaction 209
10.8 Minimally Invasive and Robotic Surgery (MIS and MIRS) 209 10.9
Robotics 212 10.10 Virtual Environment 213 References 215 11 Teletaction
Using a Linear Actuator Feedback-Based Tactile Display 223 11.1 System
Design 223 11.2 Tactile Actuator 224 11.3 Force Sensor 225 11.4 Shaft
Position Sensor 227 11.5 Stress-Strain Curves 228 11.6 PID Controller 228
11.6.1 Linear Actuator Model 230 11.6.2 Verifying the Identification
Results 232 11.6.3 Design of the PID Controller 233 11.7 Processing
Software 237 11.8 Experiments 237 11.9 Results and Discussion 238 11.10
Summary and Conclusion 241 References 244 12 Clinical and Regulatory
Challenges for Medical Devices 245 12.1 Clinical Issues 245 12.2 Regulatory
Issues 247 12.2.1 Medical Product Jurisdiction 248 12.2.2 Types of Medical
Devices 248 12.2.3 Medical Device Classification 249 12.2.4 Determining
Device Classification 250 12.3 Medical Device Approval Process 251 12.3.1
Design Controls 252 12.3.2 The 510 (K) Premarket Notifications 252 12.3.3
The Premarket Approval Application 254 12.3.4 The Quality System Regulation
255 12.4 FDA Clearance of Robotic Surgery Systems 256 References 256 Index
259