5. Why Laparoscopic Surgery?
Small incision
Speed up recovery
times
Minimize post-
operative pain
Reduce the chances
of infection
Minimize the size of
scars
8. Current Systems in the market
Pure simulation software
- Limitation in getting hands-on experience
- Lack of physical feeling
Pure physical training system
- No automated feedback
- Eye examination required
9. Goals
Providing an physical training system
Providing an automated feedback &
evaluation system
A hybrid training system of
physical and virtual feature
18. Hardware Outline
Hardware System Overview
Force during surgeries
FSR vs Strain Gauge
FSR Verification
Transmitter and Receiver Circuit
Alternative Design Option
Possible Future Work
20. Force During Surgeries
Highest Force Peak
= 2.3 N
Lowest Force Peak
= 0.2 N
For liver,
as low as 0.05 N
http://www.mech.kuleuven.be/micro/pub/medic/Paper_Eurosenso
s_2003_MIS_sensor_extended.pdf.
21. Force Limit
Maximum Force
measured to tear off
beef 2.0 N
( 0.2N < 2.0N <2.3N)
2.0 N is set as a force limit and correspond to
2.9 Volt in the system.
22. Force Sensing Resistor
How to measure force?
VS
FSR Strain Gauge
• http://www.drrobot.com/products_item.asp?itemNumber=FSR400
• http://www.omega.com/literature/transactions/volume3/strain.html
23. Force Sensing Resistor
Advantage:
Cheaper
Ideal for our system
Advantage:
Smaller in Size
Disadvantage:
Bigger than Semi-
conductor S.G.
FSR
Disadvantage:
Strain Changes
without Gripping
Strain Gauge
24. FSR Verification
FSR 400 is used and currently the smallest fsr in the market
Force (g) Resistance (kOhm)
Day1 Day2 Day3
20 11.95 12 12
50 10 10.02 10
100 5.9 5.85 6
300 3.2 3.2 3.1
500 1.9 1.88 1.91
1000 1.2 1.2 1.22
2000 0.7 0.73 0.69
25. FSR Verification
Resistance vs Force
0
2
4
6
8
10
12
14
0 200 400 600 800 1000 1200
Force (g)
Resistance
(kOhm)
Day1 Day2 Day3
26. Transmitter and Receiver
Transmitter Side:
• Force on the gripper is compared with our limit force (2.9V)
• Analog to digital conversion
• Transfer signal serially to the receiver
28. Transmitter and Receiver
Receiver Side:
• Transfer the received data to pc through serial port
• Receives signal from transmitter when limit exceeds
36. Future Work - Hardware
Use both FSR and Strain Gauge
Research and experiment on real human
tissue for setting force limit
Varying force limit according to different
surgery types
PCB instead of vector board
Research on smaller FSR or other
components to measure force
37. Test Program – Moving Task
Before moving task After moving task
38. Test Program – Cutting Task
Before cutting task After cutting task
39. Test Program – Suturing Task
Before suturing task After suturing task
46. Problems Encountered
Difficult Programming Language
MFC
Serial Data Collection
FSR Sensor Data
Image Processing
Colours
Complexity
47. Future Work - Software
Modifying our test programs
- providing random shape for cutting
- various target locations for moving
Add new test programs
- Knot tying
- Suction
Add more feedback sensors
- Checking tightness of suturing/tying task
48. Budget
Component Cost
SugiBox and surgical tools SFU Robotics Lab
Computer SFU Robotics Lab
Laparoscope SFU Robotics Lab
Vector boards $24.00
Chip components $15.00 & SFU Robotics Lab
CCD board camera $100.00
FSR sensors $30.59
Batteries and holders $23.84
Color paper, needle and tapes $15.00
Total $208.43
49. Market Plan
Target market
- Hospital
- Medical school
- Research Laboratory
Provide an on-site training
50. Competitors
Simulab Corporation
Physical training
system with digital
camera (excluding PC)
$1795.00
http://www.simulab.com/Laparosc
opicSurgery.htm
54. Timeline - Project Schedule
Revised Schedule Planned on March 2007
- Project Completed by Apr.10th, 2007
Final Schedule on Project completion
- Actual Project Completion on Apr.16th, 2007
55. Timeline - Project Schedule
Main factors that caused delay
- Hardware and software interface
- Longer integration time than expected
- Image processing complexity
56. Team Work
Very Few Conflicts
Good Communication
Even Work Distribution
Modulated Tasks
Good Mix of Skill Sets
Respect
57. What We Learned (Technical)
Background knowledge in laparoscopic surgery
- Research works in Dr. Payandeh’s Robotics Research Lab
- CESEI Tour and meeting with Dr. Qayumi
- Research from papers and webs
Hardware
- Microcontroller (PIC), RF transceiver, Voltage converter and
Circuit design, PIC programming in Assembly
Software
- MFC
- Serial port data reading in C++
- OpenCV and GDI+ Image Processing in C++
58. What We Learned (Team)
Plan the whole project term
Plan the project by month
Plan the project by week
Plan the project by day
Go back up the ladder and make
changes where necessary
59. Acknowledgements
Supervisor SFU Robotics Lab
Dr. Shahram Payandeh
CESEI, Director
Dr. Karim Quyami
SFU Alumni
Wayne Chan