Force Sensing Surgical Scissor Blades using Fibre Bragg Grating Sensors

This thesis considers the development and analysis of unique sensorised surgical scissor blades for application in minimally invasive robotic surgery (MIRS). The lack of haptic (force and tactile) feedback to the user is currently an unresolved issue with modern MIRS systems. This thesis presents details on smart sensing scissor blades which enable the measurement of instrument-tissue interaction forces for the purpose of force reflection and tissue property identification. A review of current literature established that there exists a need for small compact, biocompatible, sterilisable and robust sensors which meet the demands of current MIRS instruments. Therefore, the sensorised blades exploit the strain sensing capabilities of a single fibre Bragg grating (FBG) sensor bonded to their surface. The nature and magnitude of the strain likely to be experienced by the blades, and consequently the FBG sensor, while cutting soft tissue samples were characterised through the use of an application specific test-bed. Using the sensorised blades to estimate fracture properties is proposed, hence two methods of extracting fracture toughness information from the test samples are assessed and compared. Investigations were carried out on the factors affecting the transfer of strain from the blade material to the core of the FBG sensor for surface mounted or partially embedded arrangements. Results show that adhesive bond length, thickness and stiffness need to be carefully specified when bonding FBG sensors to ensure effective strain transfer. Calibration and dynamic cutting experiments were carried out using the characterisation test-bed. The complex nature of the blade interaction forces were modelled, primarily for the purpose of decoupling the direct, lateral, friction and fracture strains experienced by the bonded FBG sensor during cutting. The modelled and experimental results show that the approach taken in sensorising the blade enables detailed cutting force data to be obtained and consequently leads to a unique method in estimating the kinetic friction coefficient for the blades. The forces measured using the FBG are validated against a commercial load cell used in the test-bed. This research work demonstrates that this unique approach of placing a single optical fibre onto the scissor blades can, in an unobtrusive manner, measure interblade friction forces and material fracture properties occurring at the blade-tissue interface

Penetration of Air Jets Issuing from Circular, Square, and Elliptical Orifices Directed Perpendicularly to an Air Stream

An experimental investigation was conducted to determine the penetration of air jets d.irected perpendicularlY to an air stream. Jets Issuing from circular, square, and. elliptical orifices were investigated. and. the jet penetration at a position downstream of the orifice was determined- as a function of jet density, jet velocity, air-stream d.enaity, air-stream velocity, effective jet diameter, and. orifice flow coeffIcient. The jet penetrations were determined for nearly constant values of air-stream density at three tunnel-air velocities arid for a large range of Jet velocities and. densities. The results were correlated in terms of dimensionless parameters and the penetrations of the various shapes were compared. Greater penetration was obtained. with the square orifices and the elliptical orifices having an axis ratio of 4:1 at low tunnel-air velocities and low jet pressures than for the other orifices investigated. The square orifices gave the best penetrations at the higher values of tunnel-air velocity and jet total pressure

Force Measurement Methods in Telerobotic Surgery: Implications for End-Effector Manufacture

Haptic feedback in telesurgical applications refers to the relaying of position and force information from a remote surgical site to the surgeon in real-time during a surgical procedure. This feedback, coupled with visual information via microscopic cameras, has the potential to provide the surgeon with additional ‘feel’ for the manipulations being performed at the instrument-biological tissue interface. This increased sensitivity has many associated benefits which include, but are not limited to; minimal tissue damage, reduced recuperation periods, and less patient trauma. The inclusion of haptic feedback leads to reduction in surgeon fatigue which contributes to enhanced performance during operation. Commercially available Minimally Invasive Robotic Surgical (MIRS) systems are being widely used, the best-known examples being from the daVinci® by Intuitive Surgical Inc. However, currently these systems do not possess force feedback capability which therefore restricts their use during many delicate and complex procedures. The ideal system would consist of a multi-degree-of-freedom framework which includes end-effector instruments with embedded force sensing included. A force sensing characterisation platform has been developed by this group which facilitates the evaluation of force sensing technologies. Surgical scissors have been chosen as the instrument and biological tissue phantom specimens have been used during testing. This test-bed provides accurate, repeatable measurements of the forces produced at the interface between the tissue and the scissor blades during cutting using conventional sensing technologies. The primary focus of this paper is to provide a review of the traditional and developing force sensing technologies with a view to establishing the most appropriate solution for this application. The impact that an appropriate sensing technology has on the manufacturability of the instrument end-effector is considered. Particular attention is given to the issues of embedding the force sensing transducer into the instrument tip

CHANGES IN BACK SQUAT BAR VELOCITY AND PERCEIVED MUSCLE SORENESS FOLLOWING A STANDARDISED RUGBY LEAGUE MATCH SIMULATION

This study examined changes in back squat bar velocity and perceived muscle soreness following a rugby league match simulation protocol. Twenty male rugby league players (age: 19.8 ± 0.7 yrs) were recruited for this study. Back squat bar velocity and perceived muscle soreness of the lower body were collected on four days surrounding a match simulation: -24 h (prior to match simulation), +0 h (after the match simulation), +24 h and +48 h. Compared to baseline (-24h), there were non-significant decreases in maximum (dz=-0.50, moderate) back squat bar velocity +0 h. There was a significant increase in perceived muscle soreness at +0h only (p=0.003). Results suggest that elevated muscle soreness may not indicate impaired neuromuscular performance and highlight the importance of monitoring fatigue via multiple measures to ensure appropriate coaching decisions are made

VALIDATION OF TWO MOBILE APPS TO PREDICT MAXIMAL STRENGTH

Through recent advances in smartphone technology, two mobile applications (apps), LizaPlus and PowerLift, have been developed to monitor strength training and predict 1RM based on maximal concentric velocity during submaximal exercises. The aim of this study was to assess the validity of the two apps to predict 1RM using the bench press exercise. Strong correlations were found between actual 1RM and predicted 1RM values (r-values: 0.80 to 0.86, p \u3c 0.001). Bland and Altman plots show a systematic bias such that predicted 1RMs tend to be higher than actual 1RM for both apps. Results indicate both apps are valid in predicting 1RM but there appears to be systematic bias to overestimate actual 1RM. Caution should be used when basing training loads on these predicted 1RM values as there is an increased risk of injury through prescription of excessive training load

Analysis of Strain Transfer to FBG’s for Sensorized Telerobotic End-effector Applications

Sensorized instruments which cater for the measurement of interaction forces during surgical procedures are not available on current commercial Minimally Invasive Robotic Surgical (MIRS) systems. This paper investigates the ef-fectiveness of advanced optical sensing technology (Fiber Bragg Grating) as sur-gical end effector strain/force sensors. The effects of adhesive bonding layer thickness and length are specifically addressed owing to their importance for ef-fective strain transfer and ensuring compactness of the resulting sensing arrange-ment. The strain transfer characteristics of the compound sensing arrangement are evaluated by the examination of shear transfer through the fiber coating and adhe-sive layers. Detailed analysis of the sensing scheme is facilitated through the use of FEA. Validation of the resulting models is achieved through experimentation carried out on an application-specific evaluation platform. Results show that strain values from an FBG are comparable to that of an electrical strain gauge sensor

Final report on project SP1210: Lowland peatland systems in England and Wales – evaluating greenhouse gas fluxes and carbon balances

Lowland peatlands represent one of the most carbon-rich ecosystems in the UK. As a result of widespread habitat modification and drainage to support agriculture and peat extraction, they have been converted from natural carbon sinks into major carbon sources, and are now amongst the largest sources of greenhouse gas (GHG) emissions from the UK land-use sector. Despite this, they have previously received relatively little policy attention, and measures to reduce GHG emissions either through re-wetting and restoration or improved management of agricultural land remain at a relatively early stage. In part, this has stemmed from a lack of reliable measurements on the carbon and GHG balance of UK lowland peatlands. This project aimed to address this evidence gap via an unprecedented programme of consistent, multi year field measurements at a total of 15 lowland peatland sites in England and Wales, ranging from conservation managed ‘near-natural’ ecosystems to intensively managed agricultural and extraction sites. The use of standardised measurement and data analysis protocols allowed the magnitude of GHG emissions and removals by peatlands to be quantified across this heterogeneous data set, and for controlling factors to be identified. The network of seven flux towers established during the project is believed to be unique on peatlands globally, and has provided new insights into the processes the control GHG fluxes in lowland peatlands. The work undertaken is intended to support the future development and implementation of agricultural management and restoration measures aimed at reducing the contribution of these important ecosystems to UK GHG emissions

Linkages between sediment composition, wave climate and beach profile variability at multiple timescales

The paper analyses, compares and contrasts cross-shore morphodynamic behaviour of four diverse beaches that have very different regional settings, wave climates and sediment characteristics, with the aid of rarely available long term measurements of beach profiles and incident waves. The beaches investigated are Narrabeen Beach, New South Wales, Australia; Milford-on-Sea Beach, Christchurch Bay, UK; Hasaki Coast, Ibaraki Prefecture, Japan; and Joetsu-Ogata Coast, Niigata Prefecture, Japan. A statistical analysis, equilibrium beach profile analysis and Empirical Orthogonal Function analysis are used to investigate, compare and contrast spatial and temporal variability of cross shore beach profiles of the selected beaches at short-, medium- and long-term timescales. All beaches show evidence of multi-timescale morphodynamic change. Narrabeen Beach profile has the highest sensitivity to local weather patterns. Milford-on-Sea, Joetsu-Ogata and Hasaki profiles are sensitive to seasonal variation of the wave climate however, they also show some correlations with regional climate variabilities. The nature of sediment exchange across the profile, which contributes to profile shape change with time, is found to be related to sediment characteristics across the profile. At Milford-on-Sea and Joetsu-Ogata, both of which have composite profiles, sediment exchange between the upper beach and the inter-tidal zone dominates profile change, irrespective of the distinct differences in sediment composition found in the two beaches. On the other hand in Narrabeen and Hasaki where beach sediment comprises medium to find sand, sediment exchange and hence profile change occur mainly in intertidal and subtidal zones