S Sokhanvar1, J Dargahi, M Packirisamy. 1. Department of Mechanical and Industrial Engineering, Concordia University, 1455 de Maisonneuve Boulevard West, Montreal, Quebec H3G1M8, Canada. sokhan@mit.edu
Abstract
BACKGROUND: The existing MIS (minimally invasive surgery) instruments have caused severe restrictions to surgeons' tactile perception. In particular, palpation, which is an important technique in open surgery to assess the softness of the tissue and to detect any hidden lumps, is entirely absent in MIS procedures. Many researchers have developed smart endoscopic graspers to rectify different aspects of this problem. However, the effect of an anatomical feature in general and a lump in particular on the stress distribution on the sensitive surfaces of the smart MIS graspers still needs a lot of attention. METHODS: This paper investigates the effect of the important parameters of a lump on the stress distribution at the contact surface and subsequently the output of smart endoscopic graspers. Using experimental stress-strain compression test data, the material parameters required for the Mooney-Rivlin model were obtained and used in hyperelastic finite element analysis. RESULTS: The influence of size, depth and stiffness of the lump on the stress distribution at the contact surface are shown and discussed. The results of the non-linear finite element analysis were validated against experiments conducted on elastomeric material replicating soft tissue. CONCLUSIONS: The consistency between finite element analysis results and experimental work validates the developed model, which is based on the hyperelastic formulation. The finite element analysis results obtained in this study are particularly useful for the development of an inverse model. The inverse model would extract fundamental information, such as size, depth and stiffness, of any hidden lump, using the outputs of the sensors.
BACKGROUND: The existing MIS (minimally invasive surgery) instruments have caused severe restrictions to surgeons' tactile perception. In particular, palpation, which is an important technique in open surgery to assess the softness of the tissue and to detect any hidden lumps, is entirely absent in MIS procedures. Many researchers have developed smart endoscopic graspers to rectify different aspects of this problem. However, the effect of an anatomical feature in general and a lump in particular on the stress distribution on the sensitive surfaces of the smart MIS graspers still needs a lot of attention. METHODS: This paper investigates the effect of the important parameters of a lump on the stress distribution at the contact surface and subsequently the output of smart endoscopic graspers. Using experimental stress-strain compression test data, the material parameters required for the Mooney-Rivlin model were obtained and used in hyperelastic finite element analysis. RESULTS: The influence of size, depth and stiffness of the lump on the stress distribution at the contact surface are shown and discussed. The results of the non-linear finite element analysis were validated against experiments conducted on elastomeric material replicating soft tissue. CONCLUSIONS: The consistency between finite element analysis results and experimental work validates the developed model, which is based on the hyperelastic formulation. The finite element analysis results obtained in this study are particularly useful for the development of an inverse model. The inverse model would extract fundamental information, such as size, depth and stiffness, of any hidden lump, using the outputs of the sensors.