Abstract
Surgeons need grippers to grasp and
handling organs when performing Laparoscopic interventions. These grippers
usually have toothed profile to prevent the slippage of the organs and
therefore, tissue damage may occur during the operation. There should be a
solution to this risk of damage. The tissue can manipulate without pinching or
even touching it. Non-contact grippers that work with Bernoulli principle are
used in the industrial field. The aim of the study investigates the feasibility
of Bernoulli principle for manipulation soft tissues along minimally invasive
surgery. In this study, a contactless gripper working with the principle of
Bernoulli has been developed. Lifting force increases as a result of increasing
the air flow velocity, gripper surface and nozzle radius. In order to prevent
tissue damage, air deflector is used on gripper to change the direction of the
air flow. The robot gripper was designed with venturi channels to increase the
radial flow velocity. The effect of venturi channels on the lifting force were
tested. This study demonstrate that a non-contact gripping device is applicable
to lift flexible materials such as soft tissues in Minimally invasive surgery.
Keywords
References
- [1] J. Dankelman, C. A. Grimbergen and H. G. Stassen, Engineering for patient safety: issues in minimally invasive procedures, 1 st ed., New Jersey, London: Lawrence Erlbaum Associates, 2005, pp 1-322.
- [2] “Global Industry Analysts Inc. Laparoscopic Devices” A Global Strategic Business Report. (2015). Available: https://www.strategyr.com/market-report-laparoscopic-devices-forecasts-global-industry-analysts-inc.asp
- [3] M. Trommelen, “Development of a medical Bernoulli gripper,” M.S. thesis, Department of Biomedical Engineering, Delft University of Technology, Delft, Netherlands, 2010.
- [4] C. J. Reyda, “Design of a pressure sensing laparoscopic grasper,” B.S. thesis, Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, Usa, 2011.
- [5] F. Erzincanli, J. M. Sharp and A. M. Dore, “Grippers for handling of flexible food products,” in Proceeding of EURISCON’94, Malaga, Spain: Amarc, vol. 3, 1994, pp. 798–806.
- [6] Ozcelik and Erzincanli “A non-contact end-effector for the handling of garments,” Robotica, vol. 20, no. 4, pp. 447–450, 2002.
- [7] Ozcelik and Erzincanli “Examination of the movement of a woven fabric in the horizontal direction using a non-contact end-effector, ” International Journal of Advvanced Manufacturing Technology, vol. 25, no. 5, pp. 527–532, 2005.
- [8] Davis, Gray and Caldwell “An end effector based on the Bernoulli principle for handling sliced fruit and vegetables,” Robotics Computer Integrated. Manuffacturing, vol. 24, no. 2, pp. 249–257, 2008.
- [9] Brun and Melkote “Analysis of stresses and breakage of crystalline silicon wafers during handling and transport,” Solar Energy Materials, Solar Cells, vol. 93, no. 8, pp. 1238–1247, 2009.
- [10] Dini, Fantoni and Failli, “Grasping leather plies by Bernoulli grippers, ” CIRP Annals - Manuffacturing Technology, vol. 58, no. 1, pp. 21–24, 2009.
- [11] R. Sam and S. Nefti “A new design approach of robotic gripper for reducing operating cost for handling food product,” presented at IEEE 9th International Conference on Cybernetic Intelligent Systems, UK, 2010.
Abstract
References
- [1] J. Dankelman, C. A. Grimbergen and H. G. Stassen, Engineering for patient safety: issues in minimally invasive procedures, 1 st ed., New Jersey, London: Lawrence Erlbaum Associates, 2005, pp 1-322.
- [2] “Global Industry Analysts Inc. Laparoscopic Devices” A Global Strategic Business Report. (2015). Available: https://www.strategyr.com/market-report-laparoscopic-devices-forecasts-global-industry-analysts-inc.asp
- [3] M. Trommelen, “Development of a medical Bernoulli gripper,” M.S. thesis, Department of Biomedical Engineering, Delft University of Technology, Delft, Netherlands, 2010.
- [4] C. J. Reyda, “Design of a pressure sensing laparoscopic grasper,” B.S. thesis, Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, Usa, 2011.
- [5] F. Erzincanli, J. M. Sharp and A. M. Dore, “Grippers for handling of flexible food products,” in Proceeding of EURISCON’94, Malaga, Spain: Amarc, vol. 3, 1994, pp. 798–806.
- [6] Ozcelik and Erzincanli “A non-contact end-effector for the handling of garments,” Robotica, vol. 20, no. 4, pp. 447–450, 2002.
- [7] Ozcelik and Erzincanli “Examination of the movement of a woven fabric in the horizontal direction using a non-contact end-effector, ” International Journal of Advvanced Manufacturing Technology, vol. 25, no. 5, pp. 527–532, 2005.
- [8] Davis, Gray and Caldwell “An end effector based on the Bernoulli principle for handling sliced fruit and vegetables,” Robotics Computer Integrated. Manuffacturing, vol. 24, no. 2, pp. 249–257, 2008.
- [9] Brun and Melkote “Analysis of stresses and breakage of crystalline silicon wafers during handling and transport,” Solar Energy Materials, Solar Cells, vol. 93, no. 8, pp. 1238–1247, 2009.
- [10] Dini, Fantoni and Failli, “Grasping leather plies by Bernoulli grippers, ” CIRP Annals - Manuffacturing Technology, vol. 58, no. 1, pp. 21–24, 2009.
- [11] R. Sam and S. Nefti “A new design approach of robotic gripper for reducing operating cost for handling food product,” presented at IEEE 9th International Conference on Cybernetic Intelligent Systems, UK, 2010.
Details
| Primary Language | English |
|---|---|
| Subjects | Engineering |
| Journal Section | Articles |
| Authors | |
| Publication Date | July 31, 2019 |
| Published in Issue | Year 2019 |