2021
1.
Nillahoot, Nantida; Patel, Sneha; Suthakorn, Jackrit
In: The Open Biomedical Engineering Journal (TOBEJ), vol. 15, no. 1, pp. 16–28, 2021, ISSN: 1874-1207.
Abstract | Links | BibTeX | Tags: Bioengineering, Biomedical Engineering, Medicine (miscellaneous)
@article{Nillahoot2021,
title = {A Technique for Mimicking Soft Tissue Manipulation from Experimental Data to a Wave Equation Model for a New Laparoscopic Virtual Reality Training System},
author = {Nantida Nillahoot and Sneha Patel and Jackrit Suthakorn},
url = {http://bartlab.org/newweb/wp-content/uploads/2023/06/2.pdf},
doi = {10.2174/1874120702115010016},
issn = {1874-1207},
year = {2021},
date = {2021-06-22},
urldate = {2021-06-22},
journal = {The Open Biomedical Engineering Journal (TOBEJ)},
volume = {15},
number = {1},
pages = {16--28},
publisher = {Bentham Science Publishers Ltd.},
abstract = {Background: The difficulty of laparoscopic procedures and the specific psychomotor skills required support the need for a training system for intensive and repetitive practice to acquire the specific skills. The present VR training systems have some limitations with respect to the soft tissue models in the training system. This is associated with the need for a real-time simulation, which requires a balance between computational cost and accuracy.
Objective: The primary objective of the study is to develop a two dimensional wave equation model that closely mimics the soft tissue manipulation in a laparoscopic procedure for a VR training system.
Methods: A novel mathematical model based on the wave equation is prepared to represent the interaction between the laparoscopic tool and the soft tissue. The parameters within the model are determined through experimental analysis of a soft tissue phantom. The experimental setup involves a linear actuator applying force to the soft tissue phantom to generate deformation. Data acquisition is conducted through a camera and a robotic force acquisition system which measures force, displacement of the linear actuator and records a video. Through image processing, the displacements of the markers on the phantom’s x-y plane during its deformation are determined and these parameters are used to develop the model, which finally is validated through a comparative analysis.
Results: The results from the developed model are observed and compared statistically as well as graphically with the finite element model based on deformation data. The results show that the deformation data between the developed model and the available model is significantly similar.
Conclusion: This study demonstrates the adaptability of the wave equation to meet the needs of the specific surgical procedure through modification of the model based on the experimental data. Moreover, the comparative analysis further corroborates the relevance and validity of the model for the surgical training system.},
keywords = {Bioengineering, Biomedical Engineering, Medicine (miscellaneous)},
pubstate = {published},
tppubtype = {article}
}
Background: The difficulty of laparoscopic procedures and the specific psychomotor skills required support the need for a training system for intensive and repetitive practice to acquire the specific skills. The present VR training systems have some limitations with respect to the soft tissue models in the training system. This is associated with the need for a real-time simulation, which requires a balance between computational cost and accuracy.
Objective: The primary objective of the study is to develop a two dimensional wave equation model that closely mimics the soft tissue manipulation in a laparoscopic procedure for a VR training system.
Methods: A novel mathematical model based on the wave equation is prepared to represent the interaction between the laparoscopic tool and the soft tissue. The parameters within the model are determined through experimental analysis of a soft tissue phantom. The experimental setup involves a linear actuator applying force to the soft tissue phantom to generate deformation. Data acquisition is conducted through a camera and a robotic force acquisition system which measures force, displacement of the linear actuator and records a video. Through image processing, the displacements of the markers on the phantom’s x-y plane during its deformation are determined and these parameters are used to develop the model, which finally is validated through a comparative analysis.
Results: The results from the developed model are observed and compared statistically as well as graphically with the finite element model based on deformation data. The results show that the deformation data between the developed model and the available model is significantly similar.
Conclusion: This study demonstrates the adaptability of the wave equation to meet the needs of the specific surgical procedure through modification of the model based on the experimental data. Moreover, the comparative analysis further corroborates the relevance and validity of the model for the surgical training system.
Objective: The primary objective of the study is to develop a two dimensional wave equation model that closely mimics the soft tissue manipulation in a laparoscopic procedure for a VR training system.
Methods: A novel mathematical model based on the wave equation is prepared to represent the interaction between the laparoscopic tool and the soft tissue. The parameters within the model are determined through experimental analysis of a soft tissue phantom. The experimental setup involves a linear actuator applying force to the soft tissue phantom to generate deformation. Data acquisition is conducted through a camera and a robotic force acquisition system which measures force, displacement of the linear actuator and records a video. Through image processing, the displacements of the markers on the phantom’s x-y plane during its deformation are determined and these parameters are used to develop the model, which finally is validated through a comparative analysis.
Results: The results from the developed model are observed and compared statistically as well as graphically with the finite element model based on deformation data. The results show that the deformation data between the developed model and the available model is significantly similar.
Conclusion: This study demonstrates the adaptability of the wave equation to meet the needs of the specific surgical procedure through modification of the model based on the experimental data. Moreover, the comparative analysis further corroborates the relevance and validity of the model for the surgical training system.
2020
2.
Direkwatana, Chawaphol; Suthakorn, Jackrit; Wilasrussamee, Chumpon
MU-LapaRobot: A Corporative Surgical Robot for Laparoscopic Surgery Journal Article
In: The Open Biomedical Engineering Journal (TOBEJ), vol. 14, no. 1, pp. 43–54, 2020, ISSN: 1874-1207.
Abstract | Links | BibTeX | Tags: Bioengineering, Biomedical Engineering, Medicine (miscellaneous)
@article{Direkwatana2020,
title = {MU-LapaRobot: A Corporative Surgical Robot for Laparoscopic Surgery},
author = {Chawaphol Direkwatana and Jackrit Suthakorn and Chumpon Wilasrussamee},
url = {http://bartlab.org/newweb/wp-content/uploads/2023/06/4_Journal_Published_Article.pdf},
doi = {10.2174/1874120702014010043},
issn = {1874-1207},
year = {2020},
date = {2020-10-26},
urldate = {2020-10-26},
journal = {The Open Biomedical Engineering Journal (TOBEJ)},
volume = {14},
number = {1},
pages = {43--54},
publisher = {Bentham Science Publishers Ltd.},
abstract = {Objective: Development of surgical instrument robot (MU-LapaRobot) for assisting in conventional laparoscopic surgery.
Methods: A robot was designed based on instrument movement for a conventional procedure. The mechanism mimics and constrains manipulationmovement through the wire-driven transmission. It is flexible for robot end-effector, which has a lightweight and small size. The usability of therobot is passive and active robot tasks with an interconnected driving system. Three main parts of the robot are robot end-effector, transmission,and a driving system.
Results: On a robot platform, a parameter for setup is robot posture. The adjustment of robot position and projection of manipulation area is influenced bythe accuracy of movement. To verify movement, command and exact movements are measured. Compensation with the control system is improvedin order to improve the accuracy of the system.
Conclusion: MU-LapaRobot provides surgical instrument manipulation by using wire-driven transmission with an effective system and requires lessinterference in the conventional operation.},
keywords = {Bioengineering, Biomedical Engineering, Medicine (miscellaneous)},
pubstate = {published},
tppubtype = {article}
}
Objective: Development of surgical instrument robot (MU-LapaRobot) for assisting in conventional laparoscopic surgery.
Methods: A robot was designed based on instrument movement for a conventional procedure. The mechanism mimics and constrains manipulationmovement through the wire-driven transmission. It is flexible for robot end-effector, which has a lightweight and small size. The usability of therobot is passive and active robot tasks with an interconnected driving system. Three main parts of the robot are robot end-effector, transmission,and a driving system.
Results: On a robot platform, a parameter for setup is robot posture. The adjustment of robot position and projection of manipulation area is influenced bythe accuracy of movement. To verify movement, command and exact movements are measured. Compensation with the control system is improvedin order to improve the accuracy of the system.
Conclusion: MU-LapaRobot provides surgical instrument manipulation by using wire-driven transmission with an effective system and requires lessinterference in the conventional operation.
Methods: A robot was designed based on instrument movement for a conventional procedure. The mechanism mimics and constrains manipulationmovement through the wire-driven transmission. It is flexible for robot end-effector, which has a lightweight and small size. The usability of therobot is passive and active robot tasks with an interconnected driving system. Three main parts of the robot are robot end-effector, transmission,and a driving system.
Results: On a robot platform, a parameter for setup is robot posture. The adjustment of robot position and projection of manipulation area is influenced bythe accuracy of movement. To verify movement, command and exact movements are measured. Compensation with the control system is improvedin order to improve the accuracy of the system.
Conclusion: MU-LapaRobot provides surgical instrument manipulation by using wire-driven transmission with an effective system and requires lessinterference in the conventional operation.
