Projeto de mecanismo para inserção de endoscópio em cirurgias laparoscópicas

Trabalho de Conclusão de Curso (graduação)—Universidade de Brasília, Faculdade de Tecnologia, Departamento de Engenharia Mecânica, 2018.Durante cirurgias laparoscópicas minimamente invasivas realizadas em hospitais públicos brasileiros, é necessário que um especialista seja responsável pelo manuseio do endoscópio. A fim de reduzir o custo dos procedimentos e a demanda por recursos humanos, a Universidade de Brasília com o apoio do Ministério da Saúde criou o CLARA: um projeto de pesquisa, desenvolvimento e implementação de um sistema automático para auxiliar na realização de procedimentos laparoscópicos. Assim, um único profissional será responsável pelos procedimentos cirúrgicos e controle do endoscópio. O foco deste projeto de graduação foi projetar um mecanismo que permita a movimentação vertical do endoscópio durante a cirurgia abdominal, para que seja possível o controle de profundidade da câmera, e que facilite a inserção e remoção do dispositivo no paciente. Inicialmente, foram analisadas as soluções de equipamentos comerciais para a mesma função, bem como avaliados os mecanismos atualmente instalados no protótipo CLARA. A partir das condições impostas pelo procedimento cirúrgico e de acordo com o protótipo parcialmente construído e em funcionamento, foi proposta uma nova solução para o mecanismo de inserção da câmera. Ao final do trabalho, são apresentados os desenhos de fabricação da solução desenvolvida ao longo do projeto.During minimally invasive laparoscopic surgeries performed in Brazilian public hospitals, an assistant surgeon needs to be exclusively responsible for manual controlling the endoscope. In order to reduce procedure and human resource costs, the University of Brasilia, in partnership with “Ministério da Saúde”, developed CLARA: a technological project to design a robotic system to assist on laparoscopic procedures. This project will allow only one surgeon to both control the camera and perform the surgery. This project focuses on designing a mechanism to vertically control the endoscope during abdominal laparoscopies, allowing for depth adjustment of the camera and making it easier to insert and remove the equipment from the patient. In addition to designing this mechanism on the CLARA prototype, in development, the idea is to select and adapt commercial parts to eventually assemble the mechanism. In the first stage, commercial robotic systems were studied to solve for depth control, and the actual installed mechanisms in the prototype were analyzed. Upon surgical operation conditions and in accordance to the partially built prototype that was working, a new solution to the endoscope adjustment has been designed. Developed throughout the project, the technical drawings to manufacture this solution are available at the end of this work

Development of thin-multi manipulator for fetal tracheal occlusion surgery

制度:新 ; 報告番号:甲3588号 ; 学位の種類:博士(工学) ; 授与年月日:2012/3/15 ; 早大学位記番号:新592

Platforms for prototyping minimally invasive instruments

The introduction of new technologies in medicine is often an issue because there are many stages to go through, from the idea to the approval by ethical committees and mass production. This work covers the first steps of the development of a medical device, dealing with the tools that can help to reduce the time for producing the laboratory prototype. These tools can involve electronics and software for the creation of a “universal”' hardware platform that can be used for many robotic applications, adapting only few components for the specific scenario. The platform is created by setting up a traditional computer with operating system and acquisition channels aimed at opening the system toward the real environment. On this platform algorithms can be implemented rapidly, allowing to assess the feasibility of an idea. This approach lets the designer concentrate on the application rather than on the selection of the appropriate hardware electronics every time that a new project starts. In the first part an overview of the existing instruments for minimally invasive interventions that can be found as commercial or research products is given. An introduction related to hardware electronics is presented with the requirements and the specific characteristics needed for a robotic application. The second part focuses on specific projects in MIS. The first project concerns the study and the development of a lightweight hand-held robotic instrument for laparoscopy. Motivations are related to the lack of dexterous hand-held laparoscopic instruments. The second project concerns the study and the presentation of a prototype of a robotic endoscope with enhanced resolution. The third project concerns the development of a system able to detect the inspiration and the expiration phases. The aim is to evaluate the weariness of the surgeon, since breathing can be related to fatigue