Through the use of a cadaveric porcine model, forces necessary for manipulation of the abdominal organs were evaluated using an instrumented probe. Additionally, forces for tissue puncture, knot tightening, and suture breakage have been measured in order to determine the requirements placed upon the design of novel robotic surgical tools. The break forces for a variety of suture sizes and types were evaluated including sizes 3-0 through 7-0 polypropylene, size 1 polybutestor, size 4-0 chromic gut, and size 6-0 braided polyester. Tests of the tissue puncture force and knot tightening forces were carried out using the same instrumented probe, while the suture break forces were measured using a tension testing machine. The measured forces were found to compare well against the literature and provide a good basis from which to design robotic surgical tools with the appropriate capabilities.
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Design Of Medical Devices Conference Abstracts
Determination of Surgical Robot Tool Force Requirements Through Tissue Manipulation and Suture Force Measurement
Timothy P. Kinney,
Timothy P. Kinney
University of Minnesota
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Arthur G. Erdman
Arthur G. Erdman
University of Minnesota
Search for other works by this author on:
Devin R. Berg
University of Minnesota
Timothy P. Kinney
University of Minnesota
Perry Y. Li
University of Minnesota
Arthur G. Erdman
University of Minnesota
J. Med. Devices. Jun 2011, 5(2): 027517 (1 pages)
Published Online: June 13, 2011
Article history
Online:
June 13, 2011
Published:
June 13, 2011
Citation
Berg, D. R., Kinney, T. P., Li, P. Y., and Erdman, A. G. (June 13, 2011). "Determination of Surgical Robot Tool Force Requirements Through Tissue Manipulation and Suture Force Measurement." ASME. J. Med. Devices. June 2011; 5(2): 027517. https://doi.org/10.1115/1.3590369
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