DESIGN AND DEVELOPMENT OF SYSTOSCOPE MICROMANIPULATOR FOR HYDRODYNAMIC CAVITATION BASED BIOMEDICAL APPLICATIONS

Yıl 2019, Cilt: 8 Sayı: 1, 593 - 601, 28.01.2019

Canberk Sözer Hüseyin Üvet

https://doi.org/10.28948/ngumuh.517205

Öz

   Minimally
invasive surgery is a method of intervening in small openings rather than large
openings to the patient's body during open surgery. In this paper, the design
of the cystoscope, the experimental setup and the validation of the minimally
invasive method for the urogenital system are presented. The developed
cystoscope aims to abrade surface of kidney stones in the abdomen to be removed
from the body and to minimize the prostate area. This is accomplished by
directing the hydrodynamic cavitation tube on the cystoscope to the target
region. The developed cystoscope has stainless steel ropes that can be
manipulated by the Stewart platform and a flexible tip that the ropes control.
In addition, there is a working channel to place the hydrodynamic cavitation
tube, which provides intervention with a 2mm diameter camera and lighting
system for investigation. The total diameter of the system is 10mm. The
developed cystoscope has a bendable end function with 2 degrees of freedom. The
end-tip can be twisted at ±40^o in two degrees of freedom.
Intermediate prototypes of the system were created with a 3-dimensional (3B)
printer and the final prototype was produced from metal powders by DMLS (Direct
Metal Laser Sintering) method. The end-tip position of the last prototype
produced was found by image processing methods.

Anahtar Kelimeler

Micro-Manipulators, Sistoskop technology, Minimally invasive surgery

HİDRODİNAMİK KAVİTASYONA DAYALI BİYOMEDİKAL UYGULAMALAR İÇİN SİSTOSKOP TABANLI MİKROMANİPÜLATÖR TASARIMI VE GELİŞTİRİLMESİ

Öz

   Minimal
invaziv cerrahisi, açık ameliyatlarda hasta vücuduna açılan büyük kesiler
yerine küçük kesilerden müdahale etme yöntemidir. Bu bildiride minimal invaziv
yönteminin ürogenital sistem üzerinde kullanılmasını sağlayan sistoskopun
tasarımı, deney düzeneği ve doğrulaması sunulmaktadır. Geliştirilen sistoskop,
mesaneye düşen böbrek taşlarının vücuttan atılmak üzere yüzeyinin deforme
edilmesi ve prostat bölgesinin küçültülmesini amaçlamaktadır. Bu işlem,
sistoskop üzerinde bulunan hidrodinamik kavitasyon tüpünün hedef bölgeye
yönlendirilmesiyle gerçekleştirilmektedir. Sistoskop üzerinde, bükülebilir uç
işlevcinin Stewart platformu tarafından manipüle edilmesini sağlayan paslanmaz
çelik halatlar, görüntülemeyi ve ışıklandırmayı sağlayan 2mm çaplı kamera ve
aydınlatma sistemi ile müdahaleyi sağlayan hidrodinamik kavitasyon tüpünün
yerleştirileceği çalışma kanalı bulunmakta olup sistemin toplam çapı 10mm’dir.
Geliştirilen sistoskop, 2 serbestlik dereceli bükülebilir bir uç işlevciye
sahiptir. Uç işlevci, iki serbestlik derecesinde ±40^o aralığında bükülebilmektedir. Sistemin 3 boyutlu
(3B) yazıcı ile ara prototipleri oluşturulmuş ve son prototipi DMLS (Direct
Metal Laser Sintering) yöntemi ile metal tozlarından üretilmiştir. Üretilen son
prototipin uç işlevci konumu görüntü işleme yöntemiyle bulunmuştur.

Anahtar Kelimeler

Mikro-Manipülatörler, Sistoskop Teknolojisi, Minimal İnvaziv Cerrahisi

Kaynakça

• [1] LACY, A. M., GARCÍA-VALDECASAS, J. C., DELGADO, S., CASTELLS, A., TAURÁ, P., PİQUÉ, J. M., & VİSA, J. “Laparoscopy-assisted colectomy versus open colectomy for treatment of non-metastatic colon cancer: a randomised trial” The Lancet, 359, 2224-2229, 2002.
• [2] DENHOLM, S. W., CONN, I. G., NEWSAM, J. E., & CHİSHOLM, G. D. “Morbidity following cystoscopy: comparison of flexible and rigid techniques”, British journal of urology, 66, 152-154, 1990.
• [3] KATO, T., OKUMURA, I., SONG, S. E., GOLBY, A. J., & HATA, N. “Tendon-driven continuum robot for endoscopic surgery: preclinical development and validation of a tension propagation model”, IEEE/ASME Transactions on Mechatronics, 20, 2252-2263, 2015.
• [4] LEİ, MAN-CHEONG, AND RUXU DU. "A study on the bending mechanism of the flexible ureteroscope", IEEE International Conference on Control Automation and Systems (ICCAS), 2019-2023, Gyeonggi-do, Korea, , 2010.
• [5] SENECİ, C. A., SHANG, J., LEİBRANDT, K., VİTİELLO, V., PATEL, N., DARZİ, A., YANG, G. Z., “Design and evaluation of a novel flexible robot for transluminal and endoluminal surgery”, IEEE/RSJ International Conference on Intelligent Robots and Systems, 1314-1321, Chicago,USA, 2014.
• [6] MAEDA, S., ABE, K., YAMAMOTO, K., TOHYAMA, O., & ITO, H. “Active endoscope with SMA (shape memory alloy) coil springs”, IEEE Proceedings of Ninth International Workshop on Micro Electromechanical Systems, 290-295, San Diego, USA, 1996.
• [7] DE SARS, V., HALİYO, S., & SZEWCZYK, J. “A practical approach to the design and control of active endoscopes”, Mechatronics, 20, 251-264, 2010.
• [8] PERK, O. Y., ŞEŞEN, M., GOZUACİK, D., & KOŞAR, A., “Kidney stone erosion by micro scale hydrodynamic cavitation and consequent kidney stone treatment”, Annals of Biomedical Engineering, 40, 1895-1902, 2012.
• [9] GHOBANİ, M., YİLDİZ, M., GOZUACİK, D., & KOSAR, A., “Cavitating nozzle flows in micro-and minichannels under the effect of turbulence”, Journal of Mechanical Science and Technology, 30, 2565-2581, 2016.
• [10] Lİ, Z., VE DU, R., “Design and analysis of a bio-inspired wire-driven multi-section flexible robot”, International Journal of Advanced Robotic Systems, 10, 209, 2013.
• [11] SUZUMORİ, K., IİKURA, S., TANAKA, H., “Development of Flexible Microactuator and Its Applications to Robotic Mechanisms”, IEEE International Conference on Robotics and Automation, 1622‐1627, Sacramento, Califonia, 1991.