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Minimally invasive surgery (MIS) is a surgical technique that facilitates access to the internal tissues and organs of a patient’s body via a limited number of small incisions or natural orifice of the patients. Such a technique requires specialized slender surgical instruments with a high levels of dexterity and functionality. However, the currently available MIS instruments are rigid and could offer only limited degrees of freedom (DOFs) that hampers the surgeon’s effort to perform the required operation accurately. In this study, we have developed a hybrid electromagnetic and tendon-driven actuator as an integral part of MIS surgical instruments to provide them with optimum angulation. The design uses a novel electromagnetic structure to lock the position of individual joints, and a tendon-driven structure for the articulation of the surgical instrument. The finite element method (FEM) was utilized to predict the performance of the actuator, which was experimentally validated. Subsequently, a prototype was assembled, and corresponding kinematics analysis was presented to visualize the improvement of the developed mechanism on the functional workspace of the MIS instruments. It was concluded that the developed mechanism could offer three additional DOFs for the surgical instrument and angulation of 180° for each articulated joint.
Haochen Wang; Saihui Cui; Yao Wang; Chengli Song. A Hybrid Electromagnetic and Tendon-Driven Actuator for Minimally Invasive Surgery. Actuators 2020, 9, 92 .
AMA StyleHaochen Wang, Saihui Cui, Yao Wang, Chengli Song. A Hybrid Electromagnetic and Tendon-Driven Actuator for Minimally Invasive Surgery. Actuators. 2020; 9 (3):92.
Chicago/Turabian StyleHaochen Wang; Saihui Cui; Yao Wang; Chengli Song. 2020. "A Hybrid Electromagnetic and Tendon-Driven Actuator for Minimally Invasive Surgery." Actuators 9, no. 3: 92.
Single-port laparoscopic surgery (SLS), which utilises one major incision, has become increasingly popular in the healthcare sector in recent years. However, this technique suffers from several problems particularly the inability of current SLS instruments to provide the optimum angulation that is required during SLS operations. In this paper, the development of a novel latching-type electromagnetic actuator is reported, which is aimed to enhance the function of SLS instruments. This new actuator is designed to be embedded at selected joints along SLS instruments to enable the surgeon to transform them from their straight and slender shape to an articulated posture. The developed electromagnetic actuator is comprised of electromagnetic coil elements, a solid magnetic shell, and a permanent magnet used to enhance the magnetic field interaction along the force generation path and also to provide the latching effect. In this investigation, electromagnetic finite element analyses were conducted to design and optimise the actuator’s electromagnetic circuit. In addition, the performance of the new actuator was numerically and experimentally determined when output magnetic forces and torques in excess of 9 N and 45 mNm, respectively together with an angulation of 30° were achieved under a short pulse of current supply to the magnetic circuit of the actuator.
Haochen Wang; Haochen Wang. Development of a Novel Latching-Type Electromagnetic Actuator for Applications in Minimally Invasive Surgery. Actuators 2020, 9, 41 .
AMA StyleHaochen Wang, Haochen Wang. Development of a Novel Latching-Type Electromagnetic Actuator for Applications in Minimally Invasive Surgery. Actuators. 2020; 9 (2):41.
Chicago/Turabian StyleHaochen Wang; Haochen Wang. 2020. "Development of a Novel Latching-Type Electromagnetic Actuator for Applications in Minimally Invasive Surgery." Actuators 9, no. 2: 41.
Ali K. El Wahed; Loaie B. Balkhoyor; Haochen Wang. The design and performance of a smart ball-and-socket actuator. International Journal of Applied Electromagnetics and Mechanics 2019, 60, 529 -544.
AMA StyleAli K. El Wahed, Loaie B. Balkhoyor, Haochen Wang. The design and performance of a smart ball-and-socket actuator. International Journal of Applied Electromagnetics and Mechanics. 2019; 60 (4):529-544.
Chicago/Turabian StyleAli K. El Wahed; Loaie B. Balkhoyor; Haochen Wang. 2019. "The design and performance of a smart ball-and-socket actuator." International Journal of Applied Electromagnetics and Mechanics 60, no. 4: 529-544.
Magnetorheological (MR) fluids which can exhibit substantial reversible rheological changes under the excitation of external magnetic fields, have enabled the construction of many novel and robust electromechanical devices in recent years. Generally, Bingham plastic model is utilized for the estimation of the characteristics of MR fluids. However, when the geometry and design of the MR device as well as the rheological conditions of the fluid itself become complicated due to the engineering application requirements, the accuracy of Bingham plastic model, which simplifies the relation between the fluid shear stress, and shear rate into a linear function, is degraded. In this paper, a multi-degree-of-freedom (MDOF) magnetorheological fluid damper with a novel ball-and-socket structure was developed, which was aimed to enhance the human shoulder rehabilitation treatment. The performance of the proposed smart device with its complex design was estimated numerically using a finite element method (FEM) with a Herschel-Bulkley model and theoretically with a model that is based on a Bingham plastic fluid characteristics. The performance of the developed damper was validated experimentally using a dedicated testing facility for various input conditions. It was found that the FEM simulations with the Herschel-Bulkley model showed a better agreement with the experimental results in comparison with the theoretical predictions which were somewhat degraded with the employed Bingham plastic model.
Haochen Wang; Hao Chen Wang. Performance Evaluation of a Magnetorheological Fluid Damper Using Numerical and Theoretical Methods With Experimental Validation. Frontiers in Materials 2019, 6, 1 .
AMA StyleHaochen Wang, Hao Chen Wang. Performance Evaluation of a Magnetorheological Fluid Damper Using Numerical and Theoretical Methods With Experimental Validation. Frontiers in Materials. 2019; 6 ():1.
Chicago/Turabian StyleHaochen Wang; Hao Chen Wang. 2019. "Performance Evaluation of a Magnetorheological Fluid Damper Using Numerical and Theoretical Methods With Experimental Validation." Frontiers in Materials 6, no. : 1.
This paper reports on the performance evaluation of a novel latching-type electromagnetic actuator which is designed to be embedded at selected joints along single-port laparoscopic surgical instruments (SLS). The aim of this actuator is to allow these instruments to become articulated with a push of a button in order to provide the optimum angulation required during SLS operations. This new actuator is comprised of electromagnetic coil elements, soft magnetic frames and a permanent magnet. Unlike conventional electromagnetic actuators, latching-type electromagnetic actuators could maintain their positions at either end of the actuation stroke without any power application requirement. In the current design, magnetic attraction forces initiated between the permanent magnet and the magnetic frame are utilised to lock the position of the actuator whilst a certain angulation position of the actuator is achieved as a result of the magnetic repulsion forces established between the permanent magnet and the coil elements. The performance of the new actuator in terms of the output force, maximum angulation and patient’s safety, was evaluated experimentally and the results were found to compare well with those acquired numerically using finite element methods. This actuator was seen to exhibit sufficient actuation forces and hence, it was capable of providing adaptable angulation characteristics for SLS tools. Finally, thermal evaluation of the actuator’s operation was conducted, which was found to be within safety limits specified by clinicians.
Haochen Wang; Ali El Wahed. The Performance of a Novel Latching-Type Electromagnetic Actuator for Single-Port Laparoscopic Surgery. Journal of Modern Physics 2019, 10, 1659 -1673.
AMA StyleHaochen Wang, Ali El Wahed. The Performance of a Novel Latching-Type Electromagnetic Actuator for Single-Port Laparoscopic Surgery. Journal of Modern Physics. 2019; 10 (14):1659-1673.
Chicago/Turabian StyleHaochen Wang; Ali El Wahed. 2019. "The Performance of a Novel Latching-Type Electromagnetic Actuator for Single-Port Laparoscopic Surgery." Journal of Modern Physics 10, no. 14: 1659-1673.
Haochen Wang. CFD Simulation of a Smart Magnetorheological Fluid Actuator. 2018, 1 .
AMA StyleHaochen Wang. CFD Simulation of a Smart Magnetorheological Fluid Actuator. . 2018; ():1.
Chicago/Turabian StyleHaochen Wang. 2018. "CFD Simulation of a Smart Magnetorheological Fluid Actuator." , no. : 1.