Sharif Digital Repository

The introduction of Minimally Invasive Surgery (MIS) has deeply influenced modern surgery. Despite all the advantages for the patient, this method produces some limitations for the surgeon. Limitations such as reducing degrees of freedom resulting in the loss of dexterity, depriving surgeons of the depth perception and sense of touch lead to human errors due to fatigue and intense mental activity. Overcoming these limitations is the reason for robots entering the operating rooms. In this research a robot-assisted surgery system including two 5-DOF robots is utilized. The goal of this research is to model and simulate this system and also to design a bilateral controller to provide haptic... 

Laparoscopy is a minimally invasive surgical (MIS) procedure specific to the surgical sites within the abdomen. For this surgical method a laparoscope, a camera (endoscope), and a grasping instrument is needed. They all inserted in to the abdomen through openings (5 - 10 mm diameter side port). Currently used grasper heads are small and often with steel material. With respect to these two properties applying large forces that cause damage in the organs is inevitable. The aim of this project is to design a new large laparoscopic grasper head that applies pressure along the length of the lever arms and can take up tissues of large sizes. Based on surveys and estimations SMA, artificial muscles... 

The Sina robotic surgery setup has been designed and fabricated to simplify the laparoscopic surgery. The second generation of this robot has been designed in order of master and slave by focusing on using surgical wristed laparoscopic tools and utilizing haptic master. The master consists of two distinct mechanism of seven degrees of freedom. The first three degrees are considered for positioning, three of them for direction and one of them is considered for catching the tissue. The first six degrees of freedom (those for movement of haptic) are considered in this research.
To do this, first of all, the cinematic and dynamic relations of the leader mechanism have been derived. Next, the... 

The age of minimally invasive surgery has brought forth astounding changes in the health care field. Less pain and quicker patient recovery have been demonstrated with several types of operations that were once performed by an open technique. With these changes have come reports of complications. The decreased sense of touch is just one of several limitations inherent to current techniques of minimally invasive surgery that limit detection of subtle or unapparent lesions on palpation, such as common duct stones and liver lesions. The purpose of this study is to design and implement a bilateral control on a master-slave robotic system for grasping large ogans and demonstrate the ability of a... 

In the recent decade, researchers in the field of minimally invasive medicine have come up to the idea of utilizing micro organisms as smart micro robots. The advantage with this idea is the fact that problems such as energy supply and maneuvering are resolved for these sorts of micro swimmers. In this current work, a new numerical method for investigation of micro swimming is developed which is computationally efficient in characterizing locomotion of micro swimmers and using a finite element method software, locomotion of Paramecium has been investigated inside and outside a capillary tube. According to simulation results, it is possible to design a controlling system which is capable of...