Newly developed haptic forceps enables sensitive, real-time measurements of organ elasticity.
Identifieur interne : 003629 ( Main/Exploration ); précédent : 003628; suivant : 003630Newly developed haptic forceps enables sensitive, real-time measurements of organ elasticity.
Auteurs : Koji Atsuta [Japon] ; Soji Ozawa ; Naoki Shimojima ; Tomoyuki Shimono ; Shigeru Susa ; Takayoshi Takei ; Kouhei Ohnishi ; Yasuhide MorikawaSource :
- Minimally invasive therapy & allied technologies : MITAT : official journal of the Society for Minimally Invasive Therapy [ 1365-2931 ] ; 2010.
English descriptors
- KwdEn :
- Animals, Computer Simulation, Computer Systems, Elasticity (physiology), Feasibility Studies, Laparoscopy, Minimally Invasive Surgical Procedures (instrumentation), Palpation (instrumentation), Palpation (methods), Rats, Robotics (instrumentation), Robotics (methods), Surgical Instruments, User-Computer Interface.
- MESH :
- instrumentation : Minimally Invasive Surgical Procedures, Palpation, Robotics.
- methods : Palpation, Robotics.
- physiology : Elasticity.
- Animals, Computer Simulation, Computer Systems, Feasibility Studies, Laparoscopy, Rats, Surgical Instruments, User-Computer Interface.
Abstract
Currently available master-slave manipulators cannot recognize the elasticity of organs or tissues. The aim of this study was to examine whether a newly developed haptic forceps using a linear motor could measure the elasticity of living organs using an animal model. We measured the elasticity values and the disruption limit values of rat organs using the new haptic forceps. The elasticity of the materials was calculated using the formula "power / position", with N/m as the unit. We successfully and reproducibly measured the changes in the elasticity values of various materials in real time. We were also able to perceive tactile changes transmitted through the forceps. The changes in gastrointestinal contraction were synchronized with the visually observed changes, and these changes were monitored and measured as elasticity values in real time using the forceps. The damage limits were also successfully measured. In conclusion, the new haptic forceps enabled highly sensitive, real-time measurements of elasticity in living rat organs. The use of this forceps enables the disruption limit values of organs to be measured, and the device could be useful for setting safety limits when grasping organs during endoscopic surgery.
DOI: 10.3109/13645701003644053
PubMed: 20158411
Affiliations:
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sortKey="Shimono, Tomoyuki" sort="Shimono, Tomoyuki" uniqKey="Shimono T" first="Tomoyuki" last="Shimono">Tomoyuki Shimono</name></author><author><name sortKey="Susa, Shigeru" sort="Susa, Shigeru" uniqKey="Susa S" first="Shigeru" last="Susa">Shigeru Susa</name></author><author><name sortKey="Takei, Takayoshi" sort="Takei, Takayoshi" uniqKey="Takei T" first="Takayoshi" last="Takei">Takayoshi Takei</name></author><author><name sortKey="Ohnishi, Kouhei" sort="Ohnishi, Kouhei" uniqKey="Ohnishi K" first="Kouhei" last="Ohnishi">Kouhei Ohnishi</name></author><author><name sortKey="Morikawa, Yasuhide" sort="Morikawa, Yasuhide" uniqKey="Morikawa Y" first="Yasuhide" last="Morikawa">Yasuhide Morikawa</name></author></titleStmt><publicationStmt><idno type="wicri:source">PubMed</idno><date when="2010">2010</date><idno type="doi">10.3109/13645701003644053</idno><idno type="RBID">pubmed:20158411</idno><idno type="pmid">20158411</idno><idno type="wicri:Area/PubMed/Corpus">001138</idno><idno 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Fujita Health University</wicri:regionArea><wicri:noRegion>Fujita Health University</wicri:noRegion></affiliation></author><author><name sortKey="Ozawa, Soji" sort="Ozawa, Soji" uniqKey="Ozawa S" first="Soji" last="Ozawa">Soji Ozawa</name></author><author><name sortKey="Shimojima, Naoki" sort="Shimojima, Naoki" uniqKey="Shimojima N" first="Naoki" last="Shimojima">Naoki Shimojima</name></author><author><name sortKey="Shimono, Tomoyuki" sort="Shimono, Tomoyuki" uniqKey="Shimono T" first="Tomoyuki" last="Shimono">Tomoyuki Shimono</name></author><author><name sortKey="Susa, Shigeru" sort="Susa, Shigeru" uniqKey="Susa S" first="Shigeru" last="Susa">Shigeru Susa</name></author><author><name sortKey="Takei, Takayoshi" sort="Takei, Takayoshi" uniqKey="Takei T" first="Takayoshi" last="Takei">Takayoshi Takei</name></author><author><name sortKey="Ohnishi, Kouhei" sort="Ohnishi, Kouhei" uniqKey="Ohnishi K" first="Kouhei" last="Ohnishi">Kouhei Ohnishi</name></author><author><name sortKey="Morikawa, Yasuhide" sort="Morikawa, Yasuhide" uniqKey="Morikawa Y" first="Yasuhide" last="Morikawa">Yasuhide Morikawa</name></author></analytic><series><title level="j">Minimally invasive therapy & allied technologies : MITAT : official journal of the Society for Minimally Invasive Therapy</title><idno type="eISSN">1365-2931</idno><imprint><date when="2010" type="published">2010</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Animals</term><term>Computer Simulation</term><term>Computer Systems</term><term>Elasticity (physiology)</term><term>Feasibility Studies</term><term>Laparoscopy</term><term>Minimally Invasive Surgical Procedures (instrumentation)</term><term>Palpation (instrumentation)</term><term>Palpation (methods)</term><term>Rats</term><term>Robotics (instrumentation)</term><term>Robotics (methods)</term><term>Surgical Instruments</term><term>User-Computer Interface</term></keywords><keywords scheme="MESH" qualifier="instrumentation" xml:lang="en"><term>Minimally Invasive Surgical Procedures</term><term>Palpation</term><term>Robotics</term></keywords><keywords scheme="MESH" qualifier="methods" xml:lang="en"><term>Palpation</term><term>Robotics</term></keywords><keywords scheme="MESH" qualifier="physiology" xml:lang="en"><term>Elasticity</term></keywords><keywords scheme="MESH" xml:lang="en"><term>Animals</term><term>Computer Simulation</term><term>Computer Systems</term><term>Feasibility Studies</term><term>Laparoscopy</term><term>Rats</term><term>Surgical Instruments</term><term>User-Computer Interface</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">Currently available master-slave manipulators cannot recognize the elasticity of organs or tissues. The aim of this study was to examine whether a newly developed haptic forceps using a linear motor could measure the elasticity of living organs using an animal model. We measured the elasticity values and the disruption limit values of rat organs using the new haptic forceps. The elasticity of the materials was calculated using the formula "power / position", with N/m as the unit. We successfully and reproducibly measured the changes in the elasticity values of various materials in real time. We were also able to perceive tactile changes transmitted through the forceps. The changes in gastrointestinal contraction were synchronized with the visually observed changes, and these changes were monitored and measured as elasticity values in real time using the forceps. The damage limits were also successfully measured. In conclusion, the new haptic forceps enabled highly sensitive, real-time measurements of elasticity in living rat organs. The use of this forceps enables the disruption limit values of organs to be measured, and the device could be useful for setting safety limits when grasping organs during endoscopic surgery.</div></front></TEI><affiliations><list><country><li>Japon</li></country></list><tree><noCountry><name sortKey="Morikawa, Yasuhide" sort="Morikawa, Yasuhide" uniqKey="Morikawa Y" first="Yasuhide" last="Morikawa">Yasuhide Morikawa</name><name sortKey="Ohnishi, Kouhei" sort="Ohnishi, Kouhei" uniqKey="Ohnishi K" first="Kouhei" last="Ohnishi">Kouhei Ohnishi</name><name sortKey="Ozawa, Soji" sort="Ozawa, Soji" uniqKey="Ozawa S" first="Soji" last="Ozawa">Soji Ozawa</name><name sortKey="Shimojima, Naoki" sort="Shimojima, Naoki" uniqKey="Shimojima N" first="Naoki" last="Shimojima">Naoki Shimojima</name><name sortKey="Shimono, Tomoyuki" sort="Shimono, Tomoyuki" uniqKey="Shimono T" first="Tomoyuki" last="Shimono">Tomoyuki Shimono</name><name sortKey="Susa, Shigeru" sort="Susa, Shigeru" uniqKey="Susa S" first="Shigeru" last="Susa">Shigeru Susa</name><name sortKey="Takei, Takayoshi" sort="Takei, Takayoshi" uniqKey="Takei T" first="Takayoshi" last="Takei">Takayoshi Takei</name></noCountry><country name="Japon"><noRegion><name sortKey="Atsuta, Koji" sort="Atsuta, Koji" uniqKey="Atsuta K" first="Koji" last="Atsuta">Koji Atsuta</name></noRegion></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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