Abstract: Having considered tactile sensing and palpation of a
surgeon in order to detect kidney stone during open surgery; we
present the 2D model of nephrolithiasis (two dimensional model of
kidney containing a simulated stone). The effects of stone existence
that appear on the surface of kidney (because of exerting mechanical
load) are determined. Using Finite element method, it is illustrated
that the created stress patterns on the surface of kidney and stress
graphs not only show existence of stone inside kidney, but also show
its exact location.
Abstract: In this article, we propose a new surgical device for
circumferentially excision of high anal fistulas in a minimally
invasive manner. The new apparatus works on the basis of axially
rotating and moving a tubular blade along a fistulous tract
straightened using a rigid straight guidewire. As the blade moves
along the tract, its sharp circular cutting edge circumferentially
separates approximately 2.25 mm thickness of tract encircling the
rigid guidewire. We used the new set to excise two anal fistulas in a
62-year-old male patient, an extrasphincteric type and a long tract
with no internal opening. With regard to the results of this test, the
new device can be considered as a sphincter preserving mechanism
for treatment of high anal fistulas. Consequently, a major reduction
in the risk of fecal incontinence, recurrence rate, convalescence
period and patient morbidity may be achieved using the new device
for treatment of fistula-in-ano.
Abstract: Minimally invasive surgery (MIS) is now being widely used as a preferred choice for various types of operations. The need to detect various tactile properties, justifies the key role of tactile sensing that is currently missing in MIS. In this regard, Laparoscopy is one of the methods of minimally invasive surgery that can be used in kidney stone removal surgeries. At this moment, determination of the exact location of stone during laparoscopy is one of the limitations of this method that no scientific solution has been found for so far. Artificial tactile sensing is a new method for obtaining the characteristics of a hard object embedded in a soft tissue. Artificial palpation is an important application of artificial tactile sensing that can be used in different types of surgeries. In this study, a new method for determining the exact location of stone during laparoscopy is presented. In the present study, the effects of stone existence on the surface of kidney were investigated using conceptual 3D model of kidney containing a simulated stone. Having imitated palpation and modeled it conceptually, indications of stone existence that appear on the surface of kidney were determined. A number of different cases were created and solved by the software and using stress distribution contours and stress graphs, it is illustrated that the created stress patterns on the surface of kidney show not only the existence of stone inside, but also its exact location. So three-dimensional analysis leads to a novel method of predicting the exact location of stone and can be directly applied to the incorporation of tactile sensing in artificial palpation, helping surgeons in non-invasive procedures.