Modeling and optimal design of an optical MEMS tactile sensor for use in robotically assisted surgery

Roozbeh Ahmadi; Masoud Kalantari; Muthukumaran Packirisamy; Javad Dargahi

doi:10.1117/12.872025

15 September 2010 Modeling and optimal design of an optical MEMS tactile sensor for use in robotically assisted surgery

Roozbeh Ahmadi; Masoud Kalantari; Muthukumaran Packirisamy; Javad Dargahi

Author Affiliations +

Proceedings Volume 7750, Photonics North 2010; 775008 (2010) https://doi.org/10.1117/12.872025
Event: Photonics North 2010, 2010, Niagara Falls, Canada

Abstract

Currently, Minimally Invasive Surgery (MIS) performs through keyhole incisions using commercially available robotic surgery systems. One of the most famous examples of these robotic surgery systems is the da Vinci surgical system. In the current robotic surgery systems like the da Vinci, surgeons are faced with problems such as lack of tactile feedback during the surgery. Therefore, providing a real-time tactile feedback from interaction between surgical instruments and tissue can help the surgeons to perform MIS more reliably. The present paper proposes an optical tactile sensor to measure the contact force between the bio-tissue and the surgical instrument. A model is proposed for simulating the interaction between a flexible membrane and bio-tissue based on the finite element methods. The tissue is considered as a hyperelastic material with the material properties similar to the heart tissue. The flexible membrane is assumed as a thin layer of silicon which can be microfabricated using the technology of Micro Electro Mechanical Systems (MEMS). The simulation results are used to optimize the geometric design parameters of a proposed MEMS tactile sensor for use in robotic surgical systems to perform MIS.

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Roozbeh Ahmadi, Roozbeh Ahmadi, Masoud Kalantari, Masoud Kalantari, Muthukumaran Packirisamy, Muthukumaran Packirisamy, Javad Dargahi, Javad Dargahi, } "Modeling and optimal design of an optical MEMS tactile sensor for use in robotically assisted surgery", Proc. SPIE 7750, Photonics North 2010, 775008 (15 September 2010); doi: 10.1117/12.872025; https://doi.org/10.1117/12.872025

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