Mechatronics Devices In Medicine And Surgery

Abstract

At the University of Bristol., research on Mechatronics has focused on the control of contact between machines and non-rigid materials. The research has focused on this field over the last decade in automating applications in industrial sectors such as handling and cutting operations in the Aerospace, and Food processing and preparation. The work was initiated through recognition that most products are indeed nonrigid and that the extent to which automation could be applied was limited by the availability of appropriate technologies. In paaicular the requirements for new sensing, and actuation methods were identified. These needed integration with software programs for interpretation of state of the ControUed medium and for selection and implementation of controlled strategies. Many o f the tasks in the processing of non-rigid mediums can be identified as skilled tasks. These require both p igment and dexterity appropriate to the task Over the last 8 years the studies have focused on the precision control of tools with respect to soft and deforming tissues in medicine and surgery where similar requirements also apply. Both automated and tele-operated machines for surgery have been devised that incorporate novel sensing and actuation techniques. This paper focuses on two example mechatronic devices that have been devised in medicine and surgery. One to control tool progress in flexible tissue and the second to control contact over surfaces. The examples relate to precision microdrillkg a delicate flexible bone tissue with control of break-out and a method for controlling a flexible actuator in contact with a flexible tissue surface. This can be used for remote palpation. The schemes used for the interpretation of sensory data information and the resulting machine performance are described and will illustrate how machines can be devised to interpret complex state with respect to soft mediums, by using low-cost sensory schemes with an emphasis on simplicity and reliability. The design of the user interface for mechatronic devices in Medicine and Surgery is regarded as an important function that needs the carefid control of information. Mechatronic tools can provide a wealth of infannation to aid the perception of conditions at the working site. Investigations, at Bristol are Considering a COmbiDation of haptic and visual stimulus in the feedback to the surgeon operator in the control of mechatronic tools.