Minimally invasive surgery (MIS) involves indirect observation of the surgical field through endoscope or similar devices and is carried out through the skin, through body cavities or anatomical openings.
As such, a fail-safe catheter guide system has to be developed. During the conceptual design phase, five key aspects for a fail-safe catheter guide system was specified. These aspects included the requirements, functions, environment, active structure and behavior of the system.The relevant spheres of influence were identified. Undesirable influences disturbing the operation of the system were marked as disturbance variables.This aspect describes the system elements, their attributes and the relationship between the elements of the system.
The aim is to define a system configuration for a safe and reliably guided catheter based on the function of MSS in IVR procedure and environmental factors. The IVR is a complicated procedure; therefore as the first step in the development of MSS for the catheter guide, the development of the MSS started from guiding the catheter in the vessel until it reaches the area of interest. The surgeons have to carry out some medical procedures before using the MSS which involves making a small incision in the patient’s body and inserting the catheter into the blood vessel and after that then the surgeon manipulates the master tool. The prototype development consists of a fail-safe catheter guide system. This section exemplifies the prototype development of an integral element of the catheter guide system, i.e. the slave system.We have developed a slave system with two degrees of freedom (DOF) using two actuators as the positions control. A roller mechanism has been chosen to generate infinite thrust movement of the catheter. In order to prevent the intervention, both the DOF must be independent and the catheter grasp mechanism needs to be fixed with one DOF only. Most of the parts were made of aluminium except for the thrust mechanism case, which was made from ABS resin using stereo lithography. Last but not least, we aim to build a prototype of the Master Slave System that consists of a master tool, a slave system and a complete control system. Once the prototype is completed, an experiment using MATLAB Simulink or an in-vivo experiment would be conducted. In this report, the current state of the prototype development for a slave system for the catheter guide system has been explained.
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Astronomers from Bonn and Tautenburg in Thuringia (Germany) used the 100-m radio telescope at Effelsberg to observe several galaxy clusters. At the edges of these large accumulations of dark matter, stellar systems (galaxies), hot gas, and charged particles, they found magnetic fields that are exceptionally ordered over distances of many million light years. This makes them the most extended magnetic fields in the universe known so far.
The results will be published on March 22 in the journal „Astronomy & Astrophysics“.
Galaxy clusters are the largest gravitationally bound structures in the universe. With a typical extent of about 10 million light years, i.e. 100 times the...
Researchers at the Goethe University Frankfurt, together with partners from the University of Tübingen in Germany and Queen Mary University as well as Francis Crick Institute from London (UK) have developed a novel technology to decipher the secret ubiquitin code.
Ubiquitin is a small protein that can be linked to other cellular proteins, thereby controlling and modulating their functions. The attachment occurs in many...
In the eternal search for next generation high-efficiency solar cells and LEDs, scientists at Los Alamos National Laboratory and their partners are creating...
Silicon nanosheets are thin, two-dimensional layers with exceptional optoelectronic properties very similar to those of graphene. Albeit, the nanosheets are less stable. Now researchers at the Technical University of Munich (TUM) have, for the first time ever, produced a composite material combining silicon nanosheets and a polymer that is both UV-resistant and easy to process. This brings the scientists a significant step closer to industrial applications like flexible displays and photosensors.
Silicon nanosheets are thin, two-dimensional layers with exceptional optoelectronic properties very similar to those of graphene. Albeit, the nanosheets are...
Enzymes behave differently in a test tube compared with the molecular scrum of a living cell. Chemists from the University of Basel have now been able to simulate these confined natural conditions in artificial vesicles for the first time. As reported in the academic journal Small, the results are offering better insight into the development of nanoreactors and artificial organelles.
Enzymes behave differently in a test tube compared with the molecular scrum of a living cell. Chemists from the University of Basel have now been able to...
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