Development and assessment of a stiffness display system for minimally invasive surgery based on smart magneto-rheological elastomers.
Magneto-rheological elastomers
Minimally invasive
PID control
Robotic surgery
Stiffness display
Journal
Materials science & engineering. C, Materials for biological applications
ISSN: 1873-0191
Titre abrégé: Mater Sci Eng C Mater Biol Appl
Pays: Netherlands
ID NLM: 101484109
Informations de publication
Date de publication:
Mar 2020
Mar 2020
Historique:
received:
24
07
2019
revised:
05
11
2019
accepted:
07
11
2019
entrez:
12
1
2020
pubmed:
12
1
2020
medline:
27
10
2020
Statut:
ppublish
Résumé
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.
Identifiants
pubmed: 31924050
pii: S0928-4931(19)32705-5
doi: 10.1016/j.msec.2019.110409
pii:
doi:
Substances chimiques
Elastomers
0
Types de publication
Journal Article
Langues
eng
Sous-ensembles de citation
IM
Pagination
110409Informations de copyright
Crown Copyright © 2019. Published by Elsevier B.V. All rights reserved.