Keyword search (4,163 papers available)

"Dargahi J" Authored Publications:

Title Authors PubMed ID
1 Design Optimization of a Hybrid-Driven Soft Surgical Robot with Biomimetic Constraints Roshanfar M; Dargahi J; Hooshiar A; 38275456
ENCS
2 Hyperelastic Modeling and Validation of Hybrid-Actuated Soft Robot with Pressure-Stiffening Roshanfar M; Taki S; Sayadi A; Cecere R; Dargahi J; Hooshiar A; 37241524
ENCS
3 Design of a Linear Wavenumber Spectrometer for Line Scanning Optical Coherence Tomography with 50 mm Focal Length Cylindrical Optics Samadi S; Mohazzab M; Dargahi J; Narayanswamy S; 35590968
ENCS
4 Design and Optimization of a Linear Wavenumber Spectrometer with Cylindrical Optics for Line Scanning Optical Coherence Tomography Samadi S; Dargahi J; Narayanswamy S; 34640783
ENCS
5 Optical Fiber Array Sensor for Force Estimation and Localization in TAVI Procedure: Design, Modeling, Analysis and Validation Bandari N; Dargahi J; Packirisamy M; 34450813
ENCS
6 Corrigendum: Deep Learning-Based Haptic Guidance for Surgical Skills Transfer Fekri P; Dargahi J; Zadeh M; 34026860
ENCS
7 Deep Learning-Based Haptic Guidance for Surgical Skills Transfer. Fekri P, Dargahi J, Zadeh M 33553246
ENCS
8 Toward Task Autonomy in Robotic Cardiac Ablation: Learning-Based Kinematic Control of Soft Tendon-Driven Catheters. Jolaei M, Hooshiar A, Dargahi J, Packirisamy M 32678722
ENCS
9 Development and assessment of a stiffness display system for minimally invasive surgery based on smart magneto-rheological elastomers. Hooshiar A, Alkhalaf A, Dargahi J 31924050
ENCS
10 Flow force augmented 3D suspended polymeric microfluidic (SPMF3 ) platform. Marzban M, Dargahi J, Packirisamy M 30025169
ENCS

 

Title:Development and assessment of a stiffness display system for minimally invasive surgery based on smart magneto-rheological elastomers.
Authors:Hooshiar A,  Alkhalaf A,  Dargahi J
Link:https://www.ncbi.nlm.nih.gov/pubmed/31924050?dopt=Abstract
DOI:10.1016/j.msec.2019.110409
Publication:Materials science & engineering. C, Materials for biological applications
Keywords:Magneto-rheological elastomers;  Minimally invasive;  PID control;  Robotic surgery;  Stiffness display; 
PMID:31924050 Category:Mater Sci Eng C Mater Biol Appl Date Added:2020-01-12
Dept Affiliation: ENCS
1 Mehchanical, Industrial, and Aerospace Engineering Dept., Concordia University, 1515 Saint-Catherine St W, Montreal, QC H3G 2W1, Canada. Electronic address: s_hooshi@encs.concordia.ca.
2 Mehchanical, Industrial, and Aerospace Engineering Dept., Concordia University, 1515 Saint-Catherine St W, Montreal, QC H3G 2W1, Canada.
3 Mehchanical, Industrial, and Aerospace Engineering Dept., Concordia University, 1515 Saint-Catherine St W, Montreal, QC H3G 2W1, Canada. Electronic address: http://www.robosurgelab.com.

Description:

Development and assessment of a stiffness display system for minimally invasive surgery based on smart magneto-rheological elastomers.

Mater Sci Eng C Mater Biol Appl. 2020 Mar;108:110409

Authors: Hooshiar A, Alkhalaf A, Dargahi J

Abstract

In the present study, a solution to address the clinical need for stiffness display during manual and robotic minimally invasive surgery was postulated, developed, and assessed. To this end, a magneto-rheological elastomer-based stiffness display, MiTouch, was designed, developed, and analyzed. The mechanical properties of the MRE and system parameters were identified experimentally, based on which the force-field-stiffness response surface of the smart MRE was characterized. Based on the response surface, a stiffness controller was designed and verified for a set of performance requirements. A heartbeat simulation experiment showed the capability of the system for replicating desired tactile forces through stiffness control. Also, the system successfully attained an arbitrarily selected stiffness (4 N/mm) and maintained it within a bounded range (4.07 ± 0.41 N/mm). A comparison of the system performance with current literature validated its applicability for the proposed medical application.

PMID: 31924050 [PubMed - in process]




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